Quadcopter II

Publication:

A. Abdullah, A. Naseer, A. Siddiqui, H. Jahangir, R. Warsi, M. Usman Rafique, “Design and Implementation of a Low Cost Quadcopter and Analysis of Its Limitations”, IEEE International Conference on Control and Automation (ICCA), Taiwan, 2014, Accepted

Introduction

Objectives of this project are to:

Provide substantial literature review of Quadrotor
Study and model a kinetic and dynamic model of Quadrotor
Filter information from sensors to get meaningful data.
Achieve hover state using a closed loop algorithm.
Perform basic maneuvers.
Accomplish video surveillance.

The objective of our project is to develop a quadcopter that is able to hover perform basic maneuvers and do video surveillance. This project emphasizes on mathematical model and a control scheme for a quadcopter and fabrication of a mechanical model, to implement control techniques and algorithms on it allowing us to perform basic maneuvers. Dynamic modeling has been done using Euler Lagrange Approach. Classical control technique of Proportional and Derivative (PD) control has been used. The simulation result of modeling has been done using Matlab®/Simulink®. Using empirical and iterative process, fine-tuning has been done and implemented practically on our quadrotor to achieve hover state & perform

basic maneuvers.

A graphical user interface has been developed to control the throttle, updates the current status and measured angle values of Quadrotor. Video Surveillance has done by using a Wireless Camera and fed into Graphical User Interface. A machine vision application has been implemented in which quadrotor replicates the orientation of an object & align itself with object. Using Blob analysis orientation has been found which is then fed as desired angle into quadrotor to control.

A major change from its predecessor project Quadcopter I is that in this version, we have removed the use of remote control. Skilled pilot is not needed in this version as all the control is done completely autonomously.