The design and implementation of quadrotor UAV

Abstract

The design and implementation of the four-rotor aerial mobile robot called quadrotor is described in this paper. The beginning is focused on the mechanical construction of the robot body and the hardware implementation of the main control board. The next part describes the simplified mathematical model of the quadrotor. On the base of the created model, a state space controller was designed and implemented. As a result, every quadrotor axis is controlled independently as in the case of the use of separated PI or PD controllers. The last part of the paper deals with a software solution. This can be divided into three parts: the first part describes the application for the onboard microcontroller, the second part focuses on the solution of the base station. The special part of software which solves the localization of the quadrotor using a camera is described at the end of the article.