Autonomous Waypiont Navigation of Quadcopter using Python Script

Project Title

Autonomous Waypiont Navigation of Quadcopter using Python Script

Project Area of Specialization RoboticsProject Summary

Senior design project is an integral part of any engineer’s career. A good SDP hast the potential to put an engineer’s career on the top, due to this it becomes the most important aspect of an engineer four-year degree programme.

Leaning toward the topic Robotics, it has many sub fields but the field which we are interested in is Arial Robotics more specifically UAVs (Unmanned Arial Vehicle). Other generic name for UAVs is autonomous flying robots such as drones. These robots require little to no human interaction.

UAVs are a component of an unmanned aircraft system (UAS), which include additionally a ground-based controller and a system of communications with the UAV. The flight of UAVs may operate under remote control by a human operator, as remotely-piloted aircraft (RPA), or with various degrees of autonomy, such as autopilot assistance, up to fully autonomous aircraft that have no provision for human intervention.

UAVs were originally developed through the twentieth century for military missions too "dull, dirty or dangerous” for humans, and by the twenty-first they had become essential assets to most militaries. As control technologies improved and costs fell, their use expanded to many non-military applications. These include aerial photography, product deliveries, agriculture, policing and surveillance, infrastructure inspections and drone racing.

Project Objectives

A Quadcopter should have a frame or chassis on which its whole other parts are attached Now a days the frame for the quadcopter can be easily bought from the internet. We will have to find the frame which suits our needs for the Quadcopter.

Without motors the drone will be just a frame so next step will be to select the motors which can provide sufficient thrust. To drive the motors ESC (Electronic Speed Controller) is required as brushless dc motor will be used to provide thrust.

There should be a way to communicate between the copter and the human to achieve this a transmitter and receiver is used. Which will help us to control the copter using a joystick on the remote.

Flight controller is the mini brain for the Quadcopter its connection to motors to power and connection with GPS. Flight controller is of a no use without its firmware so finding and burning a suitable firmware is the key for manual flight.

After interfacing the flight controller, the copter will now ready for manual flight. We would have to test all the functions of the drone the flight controller also provides different modes which help the user to fly the drone more easily to understand the different flight modes is the key to smooth flight

After achieving manual flight, the next task is to fly the drone autonomously. This requires an additional brain which will run the python script as this requires more power which the flight controller cannot provide. Picking the brain for the operation is the most important part of the project as the project is based on python raspberry pi is an option but a better computer can be used.

The next step will be to get ourselves familiar with Linux system. As well as learning the corners of Linux system we would also learn about python and learn how to write algorithms.

The final step will be hardware testing.

Project Implementation Method

The first method is to  assemble the frame with all the essiential parts such as motors ESCs power distribution module battery GPS and flight controller tranmitter and reciever.

Now the we start wiring the quadcopter with specific guage wires as the power is different depending on the component.Double check the wires as a small mistake can cause a catastrophic failure. 

After double checking the hardware now the firmware will be uploaded on the flight controller according to the model of the controller and the Copter is it Quadcopter or HexaCopter or Octacopter as we will be working on Quadcopter the Quadcopter firmware will be uploaded.

Then periperhals like GPS ESC and the inbuild IMUs will be calibrated use the software which is provided by the flight controller company.

 Now our Quadcopter will be ready for the maual flight.using the transmitter and reciver which will be connected to the flight controller we will fly the Quadcopter manually.

Now we will step up Raspberry pi as it will be our on board PC which will run the python script. First step will be to upload the operatng system and configure it so it can be used remotely.

Now ROS will used to communicate between the flight controller and the Raspberry Pi.

Develop the python script so the Quadcopter can perform task autonomously.

Benefits of the Project

This project can be used in many industries such as military, toys and automation this project can reduce human effort by a much degree. With this project most of the work which was done by humans can automated using this Quadcopter. In the field of military, the Quadcopter can be used automously for surveillance and carrying out tasks undected as well as flying the Copter Autonomously It can also be manually operated by a human.

Technical Details of Final Deliverable

The drone should achieve manual flight with all the modes flying properly while using controller the copter should correctly pitch, yaw, roll, it should fly with stability.

After achieving manual flight, the next step would be autonomous flight, the copter should take off on its own perform wapoint navigation as described in the python script then it should land from the position it took off.

Final Deliverable of the Project HW/SW integrated systemCore Industry SecurityOther Industries Agriculture , Transportation , Media Core Technology RoboticsOther Technologies OthersSustainable Development Goals Industry, Innovation and Infrastructure, Partnerships to achieve the GoalRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	70000
Readytosky ZD550	Equipment	1	12000	12000
Pixhawk	Equipment	1	9000	9000
Raspberry Pi zero	Equipment	1	7000	7000
Motors	Equipment	4	3000	12000
Electronic Speed Controller	Equipment	4	3000	12000
Power distribution Module	Equipment	1	2000	2000
Lipo Battery	Equipment	1	10000	10000
GPS	Equipment	1	1500	1500
Transmitter and reciever	Equipment	1	2500	2500
Telemaetry Module	Equipment	1	2000	2000