UNMANNED AERIAL VEHICLE

TEAM MEMBERS

VARUN RUFUS RAJ SAMUEL D (1311005)

ABHISHEK B(1311007)
KESHAV K (1311008)
GAUTHAM S (1311026)

TEAM MENTOR

SHYAM R NAIR
ASSISTANT PROFESSOR
CENTRE FOR AUTOMATION AND ROBOTICS
HINDUSTAN UNIVERSITY

ABSTRACT
A multicopter is a mechanically simple aerial
vehicle whose motion is controlled by speeding or
slowing
multiple
downward
thrusting
motor/propeller units. A multicopter becomes a UAV
or Drone when it is capable of autonomous flight.
The project is about the design and development of
a multicopter with autopilot system which is
capable of performing various operations such as
altitude hold, position hold and obstacle avoidance.

PROBLEM STATEMENT

SURVEILLANCE
GUIDING
REACHING REMOTE AREAS
CAPABLE OF AVOIDING WIND AND BIRDS
INTERFERENCE
COMMUNICATION LAG

OBJECTIVE

POSITION HOLD
ALTITUDE HOLD
CO-ORDINATE NAVIGATION
OBSTACLE AVOIDANCE DURING NAVIGATION

BLOCK DIAGRAM OF
PROPOSED WORKPHASE
DESIGN OF UAV

FINAL
IMPLEMENTATION
(AUTOPILOT,
NAVIGATION)

FINAL REPORT
SUBMISSION

FRAME DESIGN
AND
INTEGRATION

IMPLEMENTATION
OF NAVIGATION
SYSTEM

UAV MANUAL
FLIGHT

IMPLEMENTATION
OF AUTOPILOT

COMPONENTS USED
Propellers 4 nos.
BLDC Motors 4 nos. (850KV each)
ESC 4 nos. 20 A each
Arduino Mega
Raspberry pi
Pi Camera
Carbon Fiber Frame
Li-Po 2200mAh 2 nos.

MECHANICAL DESIGN
Carbon Fibre
Payload of 2Kg
Dimension of
450mm diagonally
Model of the Drone (1. Propeller, 2. Motor, 3.
Stand, 4. Arm, 5. Controller Casing, 6.Raspberry
Pi Casing, 7. Power Distribution Board)

CONTROL SYSTEM

Block Schematic of Control System

Simulation of PID controller in Scilab Xcos

Simulation output of PID in Scilab Xcos

ELECTRONIC INTEGRATION
1.

Propeller

2.

Motors

3.

ESC

4.

Micro-Controller

5.

Single Board
Compuer

6.

Power Source 1

7.

Power Source 2

ELECTRONIC INTEGRATION

Block Schematic of Electronic Integration

ROS (ROBOTIC OPERATING SYSTEM)

ROS at On-board computer acting as Publisher

ROS (ROBOTIC OPERATING SYSTEM)

ROS at Base station acting as Subscriber

MANUAL FLIGHT TEST

TIMELINE
COMPLETED
10.08.2016 DESIGN OF UAV
20.08.2016 FRAME DESIGN AND INTEGRATION
30.08.2016 UAV MANUAL FLIGHT
26.09.2016 FLIGHT STABILIZATION

IN PROGRESS
30.09.2016 IMPLEMENTATION OF AUTOPILOT
10.10.2016 IMPLEMENTATION OF NAVIGATION SYSTEM
31.10.2016 FINAL IMPLEMENTATION (AUTOPILOT, NAVIGATION)
05.11.2016 FINAL REPORT SUBMISSION

REFERENCE
1. Fendy Santoso, Matthew A Garratt and Sreenatha G Anavatti, Fuzzy Logic-Based Self-Tuning Autopilots for
Trajectory Tracking of a Low-Cost Quadcopter: A Comparitive Study, Proceedings of ICAMIMIA, October
2015
2. Ahmed Hussein, Abdulla Al-Kaff, Arturo de la Escalera and Jose Maria Armingol, Autonomous Indoor
Navigation of Low-Cost Quadcopters, Proceedings of International Conference on Service Operations and
Logistics and Informatics, November 2015
3. John-Thones Amenyo et al., MedizDroidz Project: Ultra-Low Cost, Low-Altitude, Affordable and
Sustainable UAV Multicopter Drones for Mosquito Vector Control in Malaria Disease Management,
Proceedings of Global Humanitarian Technology Conference, October 2014.
4. Roman Bartak, Andrej Hrasko and David Obdrzalek, A Controller for Autonomous Landing of AR Drone,
Proceedings of Control and Decision Conference, June 2014.
5. L L Cheng and H B Liu, Examples of Quadcopter Control on ROS, Proceedings of International Conference
on Anti-Counterfeiting, Security and Identification, September 2015.
6. D A Mercado, P Castillo and R Lozano, Quadrotor's Trajectory Tracking Control using Monocular Vision
Navigation, Proceedings of International Conference on Unmanned Aircraft Systems, June 2015.