Navigation and Control of the Quad Rotor Flying Robots

Abstract

An autonomous quad-rotor is an unmanned aerial vehicle that has four-fixed rotors, where two rotors per axis and each of the axes are aligned with the other. Rotors are powered by four motors and propellers to lift the aircraft quad-rotor are a type of a helicopter aircraft that has vertical take-off and landing capabilities. The main objective of this project is to study and develop an autonomous quad-copter that is capable of flying under the control of an autopilot that’s sustainable and expandable for future researches. In order to achieve this objective a comprehensive study of aerodynamics has been included. Focusing on helicopters in particular especially in the field of control surfaces and components, in addition to rapid survey to the history of helicopter development. An electronic circuit was designed for the control of the quad-rotor. Components used in the design and the implementation of the quad-rotor such as brushless DC motors, propellers, sensors, batteries and the microcontroller are all discussed in detail. The MATLAB software was used to analysis for a particular combination of components, and the system has given good flight performances and acceptable efficiency. The Arduino C programming language has been used for programming the system. The microcomputer receives the Hover, Pitch, Roll, and Yaw commands plus the feedback from the sensors and generates control signals to the four motors. The movement of the motors is controlled by varying PWM signals that are sent to each of the motors.