Arducopter

JAYA ENGINEERING COLLEGE
DEPARTMENT OF AERONAUTICAL ENGINEERING
BATCH MEMBERS
110816101004 JANANI
110816101011 MANIKANDAN
110816101017 MURUGESAN KOKILAVANI
GUIDENAME : MR. BENNY THOMSON

INTRODUCTION
• Drones are more formally known as unmanned aerial
vehicles (UAVs) or unmanned aircraft systems .
Essentially, a drone is a flying robot that can be
remotely controlled or fly autonomously through
software-controlled flight plans in their embedded
systems, working in conjunction with onboard sensors
and GPS.
• Quadcopter multirotor helicopter rotorcraft
lifted and propelled by four propellers.
• Spinning of propeller blades pushes air down . Every action

force opposite equal force .
Advantages of using Autonomous drone:
• It is able to fly into zones where it would be dangerous for a pilot
• It is capable of flying for long periods of time, while doing repetitive

tasks, for up to 30 hours.
• No need for a qualified pilot to fly it.
• In the long run, will be cheaper than paying for personnel to do the
task, with one Japanese radio-controlled helicopter can do the work of
15 labours.
• It has benefits in terms of safety, reliability, affordability and

efficiency.
Application of autonomous drones
Configuration of a typical quadrotor uav
LITERATURE REVIEW
Trajectory generation and control for precise aggressive
maneuvers with quadrotors : Daniel Mellinger, Nathan
Michael, and Vijay Kumar
• Design of dynamically feasible trajectory and controllers.
• Control attitude control , hover control , 3D path following .
• Trajectory generation via sequential composition.

• Sequence for aggressive trajectories trajectory description ,
initial parameter selection , parameter adaptation.
• Sequence of robust perching.
• Conclusion : these characteristics

make the quadrotor an ideal
platform for operations such as
exploration, surveillance, search
and rescue or even artistic
performances.
PIXHAWK: A micro aerial vehicle design for autonomous
flight using onboard computer vision : L. Meier, P. Tanskanen,
F. Fraundorfer, and M. Pollefeys
• Hardware IMU camera synchronization.
• Visual pose estimation synchronized IMU measurements

improved efficiency and robustness.
• Stereo computer vision system produces death map of

obstacles.
• System design powerful onboard computers high
level tasks visual localization.
• Visual position estimation ARTK + localization

vision IMU fusion outlier removal .
• Stereo obstacle detection point clouds from stereo

depth information about indoor and outdoor environment
detect obstacles in the vicinity of MAV.
• Catastrophic event open loop safety manuever.

• Fusing vision and IMU information increase the accuracy of
camera pose estimation.
• Conclusion : using an already available flight controller can increase

the process of building the quadrotor. Features single board computer
with multi core processor.
Framework for Autonomous On-board Navigation with
the AR.Drone:Jacobo Jimenez Lugo and Andreas Zell ´
• Framework autonomous navigation minimal

hardware and software.
• A.R.Drone platform hardware

software
navigation algorithm
control
System architecture
• Autonomous figure flying position estimation
path planning and control
• Conclusion: framework that allows the lowcost quadrotor AR.Drone

to equip additional processing power to perform autonomous flights,
position estimation and person following.
A Camera-Based Target Detection and Positioning UAV
System for Search and Rescue (SAR) Purposes : Jingxuan
Sun, Boyang Li, Yifan Jiang, and Chih-yung Wen
• In large regions ,limited rescue distribution uav are promising

platform for aerial imaging.
• All-in-one camera-based target detection and positioning system is

developed fully autonomous fixed-wing UAV.
• Airframe of the uav system
Fixed-wing aircraft high speed cruising ability
long range and
flexibility in complex climatic conditions.
• Propulsion system
Battery 10,000 mAh Lipo 4-cell 20 C
Maximum cruse time 40 min at an airspeed of 18 m/s.
• Navigation system
Pixhawk flight controller free ArduPilot Plane firmware with GPS
Fully autonomous

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JAYA ENGINEERING COLLEGE

DEPARTMENT OF AERONAUTICAL ENGINEERING

GUIDENAME : MR. BENNY THOMSON

• Spinning of propeller blades pushes air down . Every action

• It is capable of flying for long periods of time, while doing repetitive

• No need for a qualified pilot to fly it.

• It has benefits in terms of safety, reliability, affordability and

• Design of dynamically feasible trajectory and controllers.

• Control attitude control , hover control , 3D path following .

• Trajectory generation via sequential composition.

• Sequence of robust perching.

• Conclusion : these characteristics

• Hardware IMU camera synchronization.

• Visual pose estimation synchronized IMU measurements

• Stereo computer vision system produces death map of

• Visual position estimation ARTK + localization

• Stereo obstacle detection point clouds from stereo

• Catastrophic event open loop safety manuever.

• Conclusion : using an already available flight controller can increase

• Framework autonomous navigation minimal

• A.R.Drone platform hardware

• Conclusion: framework that allows the lowcost quadrotor AR.Drone

• In large regions ,limited rescue distribution uav are promising

• All-in-one camera-based target detection and positioning system is

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