Design and implementation of a quadrotor platform with application to autonomous flight

Abstract

In this thesis, I designed a quadrotor system structure and implemented several quadrotor platform based on this design. On this quadrotor system, I realized a quadrotor attitude controller, velocity controller and position controller. The quadrotor system and its controller were used to develop different quadrotor autonomous flight technologies, including vision-based target position estimation and GPS-based trajectory following. With these technologies as building blocks, I constructed two quadrotor autonomous applications, namely precise autonomous landing and complex trajectory following and control. Both applications were successfully proved by simulation experiments and real implementations.

Date of Award	2015
Original language	English
Awarding Institution	The Hong Kong University of Science and Technology