Development of autonomous quadrotor micro aerial vehicles

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aut.embargoNoen_NZ
aut.thirdpc.containsNoen_NZ
aut.thirdpc.permissionNoen_NZ
aut.thirdpc.removedNoen_NZ
dc.contributor.advisorHuang, Loulin
dc.contributor.authorReader, Daniel
dc.date.accessioned2013-08-12T23:08:06Z
dc.date.available2013-08-12T23:08:06Z
dc.date.copyright2013
dc.date.created2013
dc.date.issued2013
dc.date.updated2013-08-12T20:56:51Z
dc.description.abstractWhile much has been written about quadrotor MAV (micro aerial vehicle) theory and operation, there is relatively little that communicates the practical steps necessary to build, program, and control these complex electromechanical systems. Research abounds that deals with the minutia of control and modelling, but the question of minimal sufficiency is left unanswered and unproven on real hardware. This thesis demonstrates that PID control and operational models that are simple in form but relevant to real time operations are all that is necessary to achieve stable autonomous flight. Furthermore, it presents a clear and practical approach to the development of real flying robots. This work describes the construction of three functional MAVs that cover a range of size, complexity, and functionality. Details of airframe structure, component selection, firmware and software development, and tuning and testing are all included and they provide a reproducible framework for further research. The culmination of this effort takes the form of a real physical (not simulation), fully autonomous quadrotor MAV of non-trivial mass (greater than 2kg), payload capacity (theoretically greater than 2kg), and computing power (running Linux on a processor capable of up to 1400 Dhrystone MIPS). Its successful operation is presented and serves to demonstrate the efficacy of the proposed straightforward, minimalist approach to design and development.en_NZ
dc.identifier.urihttps://hdl.handle.net/10292/5600
dc.language.isoenen_NZ
dc.publisherAuckland University of Technology
dc.rights.accessrightsOpenAccess
dc.subjectQuadrotoren_NZ
dc.subjectRoboten_NZ
dc.subjectUAVen_NZ
dc.subjectMAVen_NZ
dc.subjectUASen_NZ
dc.subjectAutonomousen_NZ
dc.subjectPIDen_NZ
dc.subjectUnmanned Aerial Vehiclesen_NZ
dc.titleDevelopment of autonomous quadrotor micro aerial vehiclesen_NZ
dc.typeThesis
thesis.degree.discipline
thesis.degree.grantorAuckland University of Technology
thesis.degree.levelMasters Theses
thesis.degree.nameMaster of Engineeringen_NZ
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