Attention Makers

CATEGORY: ROBOTICS

Quadcopter Using Arduino

MAKERS: Bharti

QUAD COPTER BY USING ARDUINO A quadcopter, also called a quadrotor helicopter, quadrotor, is a multirotor helicopter that is lifted and propelled by four rotors. Quadcopters are classified as rotorcraft, as opposed to fixed-wing aircraft, because their lift is generated by a set of rotors (vertically oriented propellers). Unlike most helicopters, quadcopters use 2 sets of identical fixed pitched propellers; 2 clockwise (CW) and 2 counter-clockwise (CCW). These use variation of RPM to control lift and torque. Control of vehicle motion is achieved by altering the rotation rate of one or more rotor discs, thereby changing its torque load and thrust/lift characteristics. There are several advantages to quadcopters over comparably-scaled helicopters. First, quadcopters do not require mechanical linkages to vary the rotor blade pitch angle as they spin. This simplifies the design and maintenance of the vehicle. Second, the use of four rotors allows each individual rotor to have a smaller diameter than the equivalent helicopter rotor, allowing them to possess less kinetic energy during flight. This reduces the damage caused should the rotors hit anything. For small-scale UAVs, this makes the vehicles safer for close interaction. Some small-scale quadcopters have frames that enclose the rotors, permitting flights through more challenging environments, with lower risk of damaging the vehicle or its surroundings. 1. PROPOSED SYSTEM Compared to previous works, here the recently developed dynamical model for the thorax actuators and various sensor models to close the control loop. Specifically, a new wing kinematic parameterization method was developed to generate ? In case of natural disaster like earthquake, the quadcopter will be very effective for surveying the site and environment in dangerous area or narrow space, where human cannot access safely. In addition, it will be a help to prevent secondary disaster. This project is concerned with autonomous hovering control, guidance control, and automatic take-off and landing control. ? This project presents a new concept of a flying and driving vehicle with a quad rotor structure. Design and control of an Omni-directional quad rotor vehicle called Omni-Flymobile are presented. It is a form of a quad rotor copter with four wheels known as a kind of a quad rotor helicopter which has four actuating fans. Omni-Flymobile is designed for both the capability of flying in the air and driving on the ground. ? This project presents a nonlinear dynamic model for a quad rotor helicopter in a form suited for back stepping control design. Due to the under-actuated property of quad rotor helicopter, the controller can set the helicopter track three Cartesian positions (x,y,z) and the yaw angle to their desired values and stabilize the pitch and roll angles. The system has been presented into three interconnected subsystems. The first one representing the under-actuated subsystem, gives the dynamic relation of the horizontal positions (x,y) with the pitch and roll angles. The second fully-actuated subsystem gives the dynamics of the vertical position z and the yaw angle. The last subsystem gives the dynamics of the propeller forces. A back stepping control is presented to stabilize the whole system. The design methodology is based on the Lyapunov stability theory. Various simulations of the model show that the control law stabilizes a quad rotor with good tracking. 2. APPLICATIONS OF SYSTEM: 2.1 Research Platform: Quadcopters are a useful tool for university researchers to test and evaluate new ideas in a number of different fields, including flight control theory, navigation, real time systems, and robotics. In recent years many universities have shown quadcopters performing increasingly complex aerial manoeuvres. Swarms of quadcopters can hover in mid-air, in formation, autonomously perform complex flying routines such as flips, darting through hula-hoops and organising themselves to fly through windows as a group. There are numerous advantages to using quadcopters as versatile test platforms. They are relatively cheap, available in a variety of sizes and their simple mechanical design means that they can be built and maintained by amateurs. Due to the multi-disciplinary nature of operating a quadcopter, academics from a number of fields need to work together in order to make significant improvements to the way quadcopters perform. Quadcopter projects are typically collaborations between computer science, electrical engineering and mechanical engineering specialists. Because they are so manoeuvrable, quadcopters could be useful in all kinds of situations and environments. Quadcopters capable of autonomous flight could help remove the need for people to put themselves in any number of dangerous positions. This is a prime reason that research interest has been increasing over the years. 2.2 Military and Law Enforcement: Quadcopter unmanned aerial vehicles are used for surveillance and reconnaissance by military and law enforcement agencies, as well as search and rescue missions in urban environments. 2.3 Commercial Use: The largest use of quadcopters in the USA has been in the field of aerial imagery. Quadcopter UAVs are suitable for this job because of their autonomous nature and huge cost savings. 3. SCOPE OF SYSTEM: Quad-copter can be used for conducting rescue operations where it?s humanly impossible to reach. In terms of its military applications it can be more widely used for surveillance purposes, without risking a human life. As more automated quad-copters are being developed, there range of applications increases and hence we can ensure there commercialization. Thus quad-copter can be used in day to day working of a human life, ensuring their well-being. The main advantage in the future use of a quad-copter for various purposes is that risk to human life, may it be because of war or due to commercial accidents can be greatly avoided. CONCLUSION As per the design specifications, the quad copter self stabilizes using the array of sensors integrated on it. It attains an appropriate lift and provides surveillance of the terrain through the camera mounted on it. It acts appropriately to the user specified commands given via a remote controller. Its purpose is to provide real time audio/video transmission from areas which are physically in-accessible by humans. Thus, its functionality is monitored under human supervision, henceforth being beneficial towards military applications. It is easy to plan, thereby providing flexibility in its movement. It can be used to provide surveillance at night through the usage of infrared cameras. The system can further be enhanced for future prospects. Team Members Bharti Sachdeva Ayush Bansal Aarushi Madan Aarusi Tuteja

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