Autopilot design for a quadrotor /

Büyüksarıkulak, Mehmet Sami
Nowadays, UAVs (Unmanned Aerial Systems) are important study areas for military and academic world. These systems can play crucial roles in some applications, especially in hazardous environments due to the fact that no human pilot will undergo danger. Quadrotor is an underactuated UAV system which has four fixed rotors and four degrees of freedom. Roll, pitch and yaw rotations and elevation/declination can be changed by differences of propeller velocity of rotors with respect to each other. Horizontal motion is depended on roll and pitch angle behaviours and can not be controlled independently. In this thesis, first aim is modelling of a quadrotor which is based on Newton-Euler equations. Different control strategies will be developed which are proportional integral (PI), linear quadratic regulator (LQR) and sliding mode controller. After that a line of sight (LOS) guidance algorithms is designed to provide the quadrotor to move autonomously using the way points along the desired path. All these procedures are first implemented on a Matlab/Simulink platform. Later on they have been applied on an autopilot board to realize the real system.


Real time unmanned air vehicle routing
Karabay, Nail; Köksalan, Murat; Tezcaner Öztürk, Diclehan; Department of Industrial Engineering (2018)
In this thesis, we study real-time routing of an unmanned air vehicle (UAV) in a twodimensional dynamic environment. The UAV starts from a base point, visits all targets and returns to the base point, while all targets change their locations during the mission period. We find the best route for the route planner (RP) considering two objectives; minimization of distance and minimization of radar detection threat. We develop a real-time algorithm to find the UAV’s most preferred route for a RP who has an unde...
Landing autopilot design for an unmanned aerial vehicle /
Ak, Ayşe İlden; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2014)
In this thesis, studies for the development of a landing autopilot for the UAV (Unmanned Aerial Vehicle), Pioneer RQ2 are presented. Firstly, 6 DOF (degree of freedom) nonlinear model of Pioneer is implemented in Matlab-Simulink based on FDC (Flight Dynamics and Control) Toolbox. Then, in accordance with steady-state wings level flight condition, trim points are found for different airspeed values, constant height and zero flight path angle. The nonlinear model of Pioneer is linearized at these trim points ...
Mission planning for unmanned aerial vehicle (UAV) teams
Yılgın, Serdar; Polat, Faruk; Department of Computer Engineering (2014)
In recent years, use of Unmanned Aerial Vehicle (UAV) especially for reconnaissance and combat missions has become very popular in worldwide. There is no onboard human operator exists for UAVs and they are generally controlled by remote human operators. Depending on the operational environment; sometimes it becomes nearly impossible to provide optimal or an acceptable UAV – target assignment and scheduling, satisfying the constraints required to accomplish the mission, for the operators in control center. I...
Path planning and coordinated guidance of multiple unmanned aerial vehicles
Ergezer, Halit; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2013)
In this thesis, both off-line and online coordinated path planning for Unmanned Aerial Vehicles (UAVs) are studied. These problems have emerged due to the increasing needs for UAVs in both military and civil applications. To accomplish a certain objective, both the path planning for a single UAV and for multiple UAVs have been examined. Although there are previous studies in this field, we focus on maximizing the collected information instead of minimizing the total mission time. Studies carried out in this...
Task assignment and scheduling in UAV mission planning with multiple constraints
Semiz, Fatih; Polat, Faruk; Department of Computer Engineering (2015)
In the recent years, unmanned aerial vehicles (UAVs) have started to be utilized as the first choice for high risk and long duration tasks, because UAVs are cheaper; they are hard to be noticed and they can perform long duration missions. Furthermore, the utilization of UAVs ensures to reduce the risk to the human life. Examples of this kind of missions includes signal collection, surveillance and reconnaissance and combat support missions. It is valuable to develop a fully autonomous UAV fleet to perform t...
Citation Formats
M. S. Büyüksarıkulak, “Autopilot design for a quadrotor /,” M.S. - Master of Science, Middle East Technical University, 2014.