Design, implementation and flight control of an autonomous quadcopter

Quadcopter also known as quadrotor is a helicopter with four rotors. The rotors are directed upwards and they are placed in a square formation with equal distance from the center of mass the quadcopter. The quadcopter is controlled by adjusting the angular velocities of the rotors which are spun by

Project Title

Design, implementation and flight control of an autonomous quadcopter

Project Area of Specialization

Artificial Intelligence

Project Summary

Quadcopter also known as quadrotor is a helicopter with four rotors. The rotors are directed upwards and they are placed in a square formation with equal distance from the center of mass the quadcopter. The quadcopter is controlled by adjusting the angular velocities of the rotors which are spun by electric motors. Quadcopter is a typical design for small unmanned aerial vehicles (UAV) because of the simple structure. Quadcopters are used in surveillance, search and rescue, construction inspections and several other applications.Quadcopter has four arms, on each arms a motor is connected and propeller on each motor. Two of the motors turn clockwise, while the other two motors turn counter clockwise.That UAV has four arms propeller on motor which are set in cross or plus configration with cross being the preferred configration.The motors in this project used have an understabdable purpose the rotate the propellers in different directions. Motors are used in KV rating the fastest motor at a stable voltage. Electronic speed controller (ESC) rotates the motors how much faster to spin in any given time. In this project use four Electronic speed controller for a quadcopter, each connected to each motor. The electronic speed controller  connected the battery with the distribution board. Comes with ESS that is built in BCE, the flight control board and the radio receiver does not belong to battery. A quadcopter motors must have spin on the exact speed to get the perfect flight, the electronic speed controller is very important. Using the gyroscope sensor, helped measure angle of quadcopter by x,y and z accordingly it automaticlly adjust the angle to each motor.There are different modes of Proportional integral derivative controller (PID) algorithms which can be used to control a quadcopter such as attitude, quadcopter can itself reduce vibrations generated its frame due to non-zero angular velocities to acquire a stable current position. Proportional integral derivative integral is used for minimizing the error between the target position and the current position quadcopter has achieved. Programming on Arduino in C/ C++ language. Arduino code consists of a setup part and loop which runs continuously containing the calculations part.

Project Objectives

• Design and implementations of an autonomous quadcopter.
• Smoothly flight and landing of autonomous quadcopter.
• Flight control of autonomous quadcopter.Quadcopters  can fly autonomously. The quadcopter will fly in a stable manner. It’s landing will also in stable manner. Many modern flight controllers use software that allows the user to mark "way-points" on a map, to which the quadcopter will fly and perform tasks, such as landing or gaining altitude. The autopilot system, an open-source software/hardware combination in development  quadcopter projects flight-control capabilities. Other flight applications include crowd control between several quadcopters where visual data from the device is used to predict where the crowd will move next and in turn direct the quadcopter to the next corresponding waypoint. The largest use of quadcopters in the world  has been in the field of aerial imagery. Quadcopter are suitable for this job because of their autonomous nature and huge cost savings. Quadcopters have also been used for light painting photography.The project Parcelcopter, in which the company tested the shipment of medical products by drone delivery. Using a  quadrocopter, packages can from a pharmacy across the river It can be  civilian package delivery via quadcopter. The agriculture sprayer quadcopters protect farmers from poisoning and heatstroke, while spraying liquid pesticides, fertilizers and herbicides on agricultural land. 50-100 acres can be sprayed per day, which is 30 times more than the traditional knapsack sprayer.Water and soil pollution is severely reduced with the fixed position and orientation method. It's not influenced by the terrain and crop height, has an ergonomic and innovative remote control, easily manages low altitudes flights and does not harm the crop.

Project Implementation Method

This section describes the system hardware thatthe quadcopter is made of which has been classified into five categories: sensors, actuating system, arduino ,frame and flight controller. The quadcopter has a set of sensors that help in identifying its state and the environments around it. These sensors are: ultrasonic, barometer, GPS sensor and a camera. Brushless DC motors provide the necessary thrust to the propellers. Each rotor needs to be controlled separately by a speed controller. Brushless motors are a bit similar to normal DC motors in the way that coils and magnets are used to drive the shaft. Though the brushless motors do not have a brush on the shaft which takes care of switching the power direction in the coils, and this is why they are called brushless. Instead the brushless motors have three coils on the inner (center) of the motor, which is fixed to the mounting. On the outer side it contains a number of magnets mounted to a cylinder that is attached to the rotating shaft. So the coils are fixed which means wires can go directly to them and therefor there is no need for a brush. Generally brushless motors spin in much higher speed and use less power at the same speed than DC motors. Also brushless motors don’t lose power in the brush-transition like the DC motors do, so it’s more energy efficient. Brushless motors come in many different varieties, where the size and the current consumption differ. To select brushless motor the KV-rating, weight, thrust per motor, size, type of propeller should be put in consideration.The brushless motors are multi-phased, normally 3 phases, so direct supply of DC power will not turn the motors on. That where the Electronic Speed Controllers (ESC) comes into play.

Benefits of the Project

Quadcopters  can fly autonomously. The quadcopter will fly in a stable manner. It’s landing will also in stable manner. Many modern flight controllers use software that allows the user to mark "way-points" on a map, to which the quadcopter will fly and perform tasks, such as landing or gaining altitude. The autopilot, an open-source software/hardware combination in development  quadcopter projects flight-control capabilities. Other flight applications include crowd control between several quadcopters where visual data from the device is used to predict where the crowd will move next and in turn direct the quadcopter to the next corresponding waypoint. The largest use of quadcopters in the world  has been in the field of aerial imagery. Quadcopter are suitable for this job because of their autonomous nature and huge cost savings. Quadcopters have also been used for photography.The project Parcelcopter, in which the company tested the shipment of medical products by drone delivery. Using a  quadrocopter, packages can from a pharmacy across the river. It can be  civilian package delivery via quadcopter. The agriculture sprayer quadcopters protect farmers from poisoning and heatstroke, while spraying liquid pesticides, fertilizers and herbicides on agricultural land. 50-100 acres can be sprayed per day, which is 30 times more than the traditional knapsack sprayer.Water and soil pollution is severely reduced with the fixed position and orientation method. It's not influenced by the terrain and crop height, has an ergonomic and innovative remote control, easily manages low altitudes flights and does not harm the crop.

Technical Details of Final Deliverable

Quadcopter can fly in a stable manner,it is pollution free.

Quadcopters  can fly autonomously. The quadcopter will fly in a stable manner. It’s landing will also in stable manner. Many modern flight controllers use software that allows the user to mark "way-points" on a map, to which the quadcopter will fly and perform tasks, such as landing or gaining altitude. The autopilot, an open-source software/hardware combination in development  quadcopter projects flight-control capabilities. Other flight applications include crowd control between several quadcopters where visual data from the device is used to predict where the crowd will move next and in turn direct the quadcopter to the next corresponding waypoint. The largest use of quadcopters in the world  has been in the field of aerial imagery. Quadcopter are suitable for this job because of their autonomous nature and huge cost savings. Quadcopters have also been used for  photography.The project Parcelcopter, in which the company tested the shipment of medical products by drone delivery. Using a  quadrocopter, packages can from a pharmacy across the river It can be  civilian package delivery via quadcopter.

The agriculture sprayer quadcopters protect farmers from poisoning and heatstroke, while spraying liquid pesticides, fertilizers and herbicides on agricultural land. 50-100 acres can be sprayed per day, which is 30 times more than the traditional knapsack sprayer.Water and soil pollution is severely reduced with the fixed position and orientation method. It's not influenced by the terrain and crop height, has an ergonomic and innovative remote control, easily manages low altitudes flights and does not harm the crop.

Final Deliverable of the Project

HW/SW integrated system

Type of Industry

Others

Technologies

Robotics

Sustainable Development Goals

Partnerships to achieve the Goal

Required Resources

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