1

CHAPTER -1
1.1 INTRODUCTION:
Quadcopter, also known asquadrotor, isa helicopter with four rotors.
The rotorsare directed upwards and they are placed in a square formation with
equaldistance from the center of mass of thequadcopter. The quadcopter is
controlled by adjustingthe angular velocities of the rotors which are spun by
electric motors. Quadcopter is a typical design for small unmanned aerial
vehicles (UAV) because of the simplestructure. Quadcopters are used in
surveillance, search and rescue, construction inspections and several other
applications.

Quadcopter has received considerable attention from researchers as the

complex phenomena of the quadcopter has generated several areas of interest.
The basic dynamical model of the quadcopter is the starting point for all of the
studies but more complex aerodynamic properties has been introduced as well
Early in the history of flight, quadrotor configurations were seen as possible
solutions to some of the persistent problems in vertical flight; torque-induced
control issues (as well as efficiency issues originating from the tail rotor,
which generates no useful lift) can be eliminated by counter-rotation and the
relatively short blades are much easier to construct. A number of manned
designs appeared in the 1920s and 1930s. These vehicles were among the first
successful heavier-than-air vertical take off and landing (VTOL) vehicles.
However, early prototypes suffered from poor performance, and latter
prototypes required too much pilot work load, due to poor stability
augmentation and limited control authority. More recently quadrotor designs

have become popular in unmanned aerial vehicle (UAV) research. These

vehicles use an electronic control system and electronic sensors to stabilize the
aircraft. With their small size and agile maneuverability, these quadrotors can
be flown indoors as well as outdoors:

CHAPTER-2

2.1 HISTORY OF QUADCOPTER:

Oehmichen No.2, 1920
Etienne Oehmichen experimented with rotorcraft designs in the 1920s. Among
the six designs he tried, his helicopter No.2 had four rotors and eight propellers, all
driven by a single engine. The Oehmichen No.2 used a steel-tube frame, with twobladed rotors at the ends of the four arms. The angle of these blades could be varied
by warping. Five of the propellers, spinning in the horizontal plane, stabilized the
machine laterally. Another propeller was mounted at the nose for steering. The
remaining pair of propellers were for forward propulsion. The aircraft exhibited a
considerable degree of stability and controllability for its time, and made more than
a thousand test flights during the middle 1920s. By 1923 it was able to remain
airborne for several minutes at a time, and on April 14, 1924 it established the firstever FAI distance record for helicopters of 360 m (390 yd). Later, it completed the
first 1 kilometre (0.62 mi) closed-circuit flight by a rotorcraft.
deBothezatquadrator, 1922
Dr. George de Bothezat and Ivan Jerome developed this aircraft, with six bladed
rotors at the end of an X-shaped structure. Two small propellers with variable pitch
were used for thrust and yaw control. The vehicle used collective pitch control. It
made its first flight in October 1922. About 100 flights were made by the end of
1923. The highest it ever reached was about 5 m (16 ft 5 in). Although
demonstrating feasibility, it was, underpowered, unresponsive, mechanically
complex and susceptible to reliability problems. Pilot workload was too high during
hover to attempt lateral motion.

Convertawings Model AQuadrotor, 1956

This unique helicopter was intended to be the prototype for a line of much larger
civil and military quadrotor helicopters. The design featured two engines driving
four rotors with wings added for additional lift in forward flight. No tailrotor was
needed and control was obtained by varying the thrust between rotors. Flown
successfully many times in the mid-1950s, this helicopter proved the quadrotor
design and it was also the first four-rotor helicopter to demonstrate successful
forward flight. Due to a lack of orders for commercial or military versions however,
the project was terminated.
Convertawings proposed a Model E that would have a maximum weight of 42,000
lb (19,000 kg) with a payload of 10,900 lb (4,900 kg).
Curtiss-Wright VZ-7, 1958
The Curtiss-Wright VZ-7 was a VTOL aircraft designed by the Curtiss-Wright
company for the US Army. The VZ-7 was controlled by changing the thrust of each
of the four propellers.

2.2 RECENT DEVELOPMENTS:

In the last few decades, small scale Unmanned Aerial Vehicles (UAVs) have
become more commonly used for many applications. The need for aircrafts with
greater maneuverability and hovering ability has led to current rise in quadrotor
research. The four-rotor design allows quadrotors to be relatively simple in design
yet highly reliable and maneuverable. Cutting-edge research is continuing to
increase the viability of quadrotors by making advances in multi-craft
communication, environment exploration, and maneuverability. If all of these

developing qualities can be combined together, quadrotors would be capable of

advanced autonomous missions that are currently not possible with any other
vehicle.
Some current programs include:
The Bell Boeing Quad TiltRotor concept takes the fixed quadrotor concept
further by combining it with the tilt rotor concept for a proposed C-130 sized
military transport.
Flying prototype of the Parrot AR.Drone
Parrot AR.Drone 2.0 take-off, Nevada, 2012
AermaticaSpa's Anteos is the first rotary wing RPA (remotely piloted aircraft)
to have obtained official permission to fly (Permit To Fly) issued in the civil
airspace, by the Italian Civil Aviation Authority (ENAC), and will be the
first able to work in non segregated airspace.
AeroQuad is an open-source hardware and software project which utilises
Arduino boards and freely provides hardware designs and software for the
DIY construction of Quadrocopters.
ArduCopter is an open-source multicopter UAV. Based on Arduino, it
supports from three to eight motors, as well as traditional helicopters, and
allows fully autonomous missions as well as RC control.[15]
OpenPilot is a model aircraft open-source software project.[citation needed]
Parrot AR.Drone is a small radio controlled quadrocopter with cameras
attached to it built by Parrot SA, designed to be controllable with iOS.

CHAPTER-3

3.1BASIC PRINCIPLE OF QUADCOPTER:

Figure3. 1: Schematic diagram of principle of quadcopter

The quadrotor is very well modeled with a four rotors in a cross configuration.
This cross structure is quite thin and light, however it shows robustness by linking
mechanically the motors (which are heavier than the structure). Each propeller
is connected to the motor through the reduction gears. All the propellers axes
of rotation are fixed and parallel. Furthermore, they have fixed-pitch blades and
their air flows points downwards (to get an upward lift). These considerations
point out that the structure is quite rigid and the only things that can vary are
the propeller speeds.
In this section, neither the motors nor the reduction gears are fundamental
because the movements are directly related just to the propellers velocities. The

others parts will be taken into account in the following sections. Another neglected
component is the electronic box. As in the previous case, the electronic
box is not essential to understand how the quadrotor flies. It follows that the
basic model to evaluate the quadrotor movements it is composed just of a thin
cross structure with four propellers on its ends.
The front and the rear propellers rotate counter-clockwise, while the left and
the right ones turn clockwise. This configuration of opposite pairs directions
removesthe need for a tail rotor (needed instead in the standard helicopter
structure).Figure shows the structure model in hovering condition, where all the
propellers have the same speed.

Figure 3.2: Showing hovering condition

In figure 3.1 a sketch of the quadrotor structure is presented in black. The
fixed-body B-frame is shown in green and in blue is represented the angular
speedof the propellers. In addition to the name of the velocity variable, for
each propeller,two arrows are drawn: the curved one represents the direction
of rotationthe other one represents the velocity. This last vector always points
upwardshence it doesnt follow the right hand rule (for clockwise rotation)

because it also models a vertical thrust and it would be confusing to have two
speed vectors pointing upwards and the other two pointing downwards.
In the model of figure 3.1 all the propellers rotate at the same (hovering)
speed H [rad s1] to counterbalance the acceleration due to gravity. Thus, the
quadrotor performs stationary flight and no forces or torques move it from its
position.
Even though the quadrotor has 6 DOF, it is equipped just with four propellers,
hence it is not possible to reach a desired set-point for all the DOF, but at
maximum four. However, thanks to its structure, it is quite easy to chose the
four best controllable variables and to decouple them to make the controller
easier. The four quadrotor targets are thus related to the four basic movements
which allow the helicopter to reach a certain height and attitude.
Throttle (U1 [N])
This command is provided by increasing (or decreasing) all the propeller
speeds by the same amount. It leads to a vertical force WRT body-fixed
frame which raises or lowers the quadrotor. If the helicopter is in horizontal
position, the vertical direction of the inertial frame and that one of the
body-fixed frame coincide. Otherwise the provided thrust generates both
vertical and horizontal accelerations in the inertial frame. Figure shows
the throttle command on a quadrotor sketch.

Figure 3.3: Roll dynamics

Roll (U2 [N m])

This command is provided by increasing (or decreasing) the left propeller
speed and by decreasing (or increasing) the right one. It leads to a torque
with respect to the xB axis which makes the quadrotor turn. The overall
vertical thrust is the same as in hovering, hence this command leads only
to a roll angle acceleration (in first approximation). Figure shows the
roll command on a quadrotor sketch.

Figure3. 4: Pitch Dynamics

Pitch (U3 [N m])

This command is very similar to the roll and is provided by increasing (or

10

decreasing) the rear propeller speed and by decreasing (or increasing) the
front one. It leads to a torque with respect to the yB axis which makes the
quadrotor turn. The overall vertical thrust is the same as in hovering, hence
this command leads only to a pitch angle acceleration (in first approximation).

Figure 3,5: Pitch command on quad rotor sketch

Yaw (U4 [N m])
This command is provided by increasing (or decreasing) the front-rear
propellersspeed and by decreasing (or increasing) that of the left-right couple.
It leads to a torque with respect to the zB axis which makes the quadrotor
turn. The yaw movement is generated thanks to the fact that the left-right
propellers rotate clockwise while the front-rear ones rotate counterclockwise.
Hence, when the overall torque is unbalanced, the helicopter turns on itself
aroundzB. The total vertical thrust is the same as in hovering, hence this
command leads only to a yaw angle acceleration (in first approximation).

11

Figure 3.6: Yaw command

By varying the speed of the 4 rotors various movements are possible. There are three
important terms mentioned above namely the YAW , ROLL and PITCH which we
must have a clear concept of before understanding the quads movement.
Here Yaw = Rudder , Roll = Aileron and Pitch = Elevator. Having these in mind,
Look at the following image to get knowledge of the various motions of the
quadcopter.

12

CHAPTER-4

4.1DESIGN OF THE QUADCOPTER:

4.1.1 CATIA DESIGN:

figure 4.1

Basic Frame CATIA Design

The design of the quadcopter was initially done using the CATIA V5R16 software.
Each part was designed individually. The parts were analysed such that each and
every part could withstand the forces acting on it.

13

4.2 BASIC PARTS:

4.2.1
ARMS:

Figure 4.2: Arms of Quadcopter

The length of each arm of the quadcopter is 14 inches starting from the frame to the
tip. The arms are designed such that the distance between the motor of two adjacent
arms is equal to the twice the diameter of the propellers used on the motors. Hence,
the distance between any two adjacent arms is 28 inches.
Material used: ALUMINIUM RODS
Each arm is 14 inches long and is a hollow square rod of side 1 inch. The thickness
of the arms is 2mm. Initially rods of 1mm thick rods were used, but they were more
prone to bending. Hence, thicker rods of 2mm thickness were used, which were
heavier but quite stronger.

14

4.2.2 FRAME:

Figure 4.3: Frame

The frame is a square shaped design. It has a side of 6 inches. Provisions are
provided each on every edge of the frame such that it can support two more plates(
one at the top and the other at the bottom) .
MATERIAL USED FOR THE FRAME: GAROLITE
Garolite is a very strong material and is light weight. The properties of carbon fibre
when compared to aluminium are superior in many ways.
It has a tensile strength of 10,000-12,000 psi , impact strength of 8.2-10 lbs/in and a
high compressive strength of 15,000-35,000 psi. These properties when compared
with the weight of the material are high compared to aluminium.

15

The different parts used in the quadcopterare :

1) Garolite body, comprising the main cross-shaped airframe, rectangular
upper platform
2) 4 x brushless motors.
3) 4 x electronic speed controllers (ESCs) small circuits with wires at each
end.
4) 4 propellers.
5) 1 x flight computer circuit board.
6) 5 x 100mm radio receiver connector cables with servo plugs on each end.
7) 1 x power distribution lead.
8) GPS
9) 2 X 4200mAH Li-po batteries
10) On board Camera
11) Futaba 7C wireless remote
12) Remote Receiver

16

4.2.3 BRUSHLESS MOTORS:

MOTOR SPEC:iPower 2814Q Specifications:

Figure 4.4: Brushless motors

KV: 750

Internal Resistance: 94m

No-Load Current: 1.0A

Max Current: 24.2A

Continuous Current: 22.3A

Max Watts: 350W

Lipo Cells: 2-4s

Weight: 130g (with hardware)

Dimensions: 35x36mm

Wire length: 450mm

Shaft Diameter: 5.0mm

Recommended Prop: 12x4.5

Recommended ESC: 30-40A

iPower Q-series brushless motors are designed specifically for use in multi
rotor aircraft. iPower motors are constructed of quality components,

17

making them a smooth, powerful, and efficient motor for your multicopter
application. Each 2814 motor features 450mm long motor wires and
3.5mm male gold bullet connectors pre-installed. Also included is an
accessory package with mount plate, bolt-on style prop adapter, and a set
of female 3.5mm gold bullet connectors for your ESC.
Brushed DC motors develop a maximum torque when stationary, linearly
decreasing as velocity increases.Some limitations of brushed motors can be
overcome by brushless motors, they include higher efficiency and a lower
susceptibility of the commutator assembly to mechanical wear. These benefits
come at the cost of potentially less rugged, more complex, and more expensive
control electronics.
A typical brushless motor has permanent magnets which rotate and a fixed
armature, eliminating problems associated with connecting current to the
moving armature. An electronic controller replaces the brush/commutator
assembly of the brushed DC motor, which continually switches the phase to
the windings to keep the motor turning. The controller performs similar timed
power

distribution by using a

solid-state

circuit rather

than the

brush/commutator system.
Brushless motors offer several advantages over brushed DC motors, including
more torque per weight, more torque per watt (increased efficiency), increased
reliability, reduced noise, longer lifetime (no brush and commutator erosion),
elimination of ionizing sparks from the commutator, and overall reduction of
electromagnetic interference (EMI). With no windings on the rotor, they are
not subjected to centrifugal forces, and because the windings are supported by
the housing, they can be cooled by conduction, requiring no airflow inside the

18

motor for cooling. This in turn means that the motor's internals can be entirely
enclosed and protected from dirt or other foreign matter.

4.2.4 Electronic Speed Controllers:

Figure 4.5: Electronic Speed Controllers

Specification:
Name: Aeolian motor
Xp-25a

An electronic speed control or ESC is an electronic circuit with the purpose to vary
an electric motor's speed, its direction and possibly also to act as a dynamic brake.
ESCs are often used on electrically powered radio controlled models, with the

19

variety most often used for brushless motors essentially providing an electronicallygenerated three phase electric power low voltage source of energy for the motor.
Brushless ESC systems basically drive tri-phase brushless motors by sending a
sequence of signals for rotation. Brushless motors, otherwise called outrunners or
inrunners, have become very popular with radio controlled airplane hobbyists
because of their efficiency, power, longevity and light weight in comparison to
traditional brushed motors. However, brushless AC motor controllers are much more
complicated than brushed motor controllers.
ESCs designed for radio-control airplanes usually contain a few safety features. If
the power coming from the battery is insufficient to continue running the electric
motor the ESC will reduce or cut off power to the motor while allowing continued
use of ailerons, rudder and elevator function. This allows the pilot to retain control
of the plane to glide or fly on low power to safety.

20

4.2.5
PROPELLERS:

Figure4.6: Propellers
PROPELLER SPEC:
Name: ATC 14*4.7SF
Hub Diameter: 0.50 in. Hub Diameter
Hub Thickness: 0.30 in. Hub Thickness
Shaft Diameter: 1/4 in. Engine Shaft Dia.
Propeller Weight: 0.88 oz.
Name:ATC 14*4.7SFP
Hub Diameter: 0.50 in. Hub Diameter
Hub Thickness: 0.30 in. Hub Thickness

21

Shaft Diameter: 1/4 in. Engine Shaft Dia.

Propeller Weight: 0.88 oz.
The quadcopter consists of 4 propellers coupled to the brushless motor. Among
these 4 propellers, 2 are alike and the remaining 2 are the same. They are divided in
pusher propellers and tractor propellers. Pusher propellers rotate clockwise and
tractor propellers rotate anti clockwise. The propellers chosedi.e 14 are quite large
for a quadcopter. However, the increase in size of these propellers increases the
payload capacity of the quadcopter. But , it is not as agile as a smaller quad but is
more stable.
4.2.6 BATTERIES:
RC

model KingMax4200mah

Size:135.6mmx42.5mmx30mm
Capacity:4200mah
Voltage:11.1v

Figure 4.7:Lipo Batteries

25C

11.1V lipobattery

22

The batteries used in the quadcopter are Lipo batteries. These batteries offer very
high power compared to other batteries

when the weight of the battery is a

constraint. Other options Nipo batteries but they give out lesser power and are
heavier. Lipo batteries are mainly used for applications especially in aviation and
they are less heavier and can do heavy duty work.

4.2.7 FLIGHT GUIDANCE CHIP:

Figure 4.8: Flight Guidance Chip

Package Types

40-pin DIP, 44-pin LQFP, 44-pin QFN

Model Number

P8X32A

Parallax Part #

P8X32A-D40 -

DIP

package

P8X32A-Q44 -

QFP

package

P8X32A-M44 - QFN package

Power Requirements

3.3 volts DC

23

DC
External Clock Speed

to

80

MHz

(4 MHz to 8 MHz with Clock PLL

running)

Internal RC Oscillator

12 MHz or 20 KHz

System Clock Speed

DC to 80 MHz

Global RAM/ROM

64 K bytes; 32K RAM / 32 K ROM

Processor RAM

2 K bytes each

RAM/ROM Organization

32 bits (4 bytes or 1 long)

I/O Pins

32

Current Source/Sink per

40 mA
I/O
Table 1: Specifications of Chip
The flight guidance chip is the heart of the quadcopter. It gives instructions by
sensing the various changes in the quadcopter. The software used in the flight
guidance chip is mentioned above. The flight guidance chip requires programming
according to the quadcopter. We have programmed the chip according to the
specifications of the quadcopter.

24

4.2.8 ON BOARD CAMERA: 8 MEGAPIXEL HIGH DEFINITION CAMERA

Figure 4.9 On Board Camera

1/3'' 650TVL SONY Super HAD CCD II

DC 12V Power input

Camera
Image Sensor Size

1/3'' SONY Super HAD CCD?

Horizontal Resolution

650 TVL (Color), 700TVL(BW)

TV System

NTSC

Pixels

976(H)

PAL
x

494(V)
Electronic Shutter

1/60

976(H)

582(V)
-1/100

1/50-

1/100

25

000 sec

000 sec

Minimum Illumination

0.001 LUX Starlight(Sense-up x512)

Lens

Default :2.8mm Optional :3.6/6mm

S/N Ratio

48dB ( AGC off )

Scanning System

2:1 Interlace

Sync System

Internal

Color to B/W

Yes

Digital WDR

Yes

3D Noise Reduction

Low/Middle/High/Off

Mirror

ON/OFF

Auto White Balance

ATW/MANUAL/AWC>>PUSH/AWC

Back Light Compensation

BLC/HLC/Digital WDR/Off

Auto Gain Control

Low/Middle/High/Off

Language

English, Chinese

Others
Power input

DC 12V at 300mA

Video Output

BNC (1.0Vp-p/75ohm)

Material

Metal

Operation Environment

Temp: -10 C to 50 C; RH: 95% Max;

Dimension

25mm X 25mm X H:28mm

Net Weight

30g(0.07lb)

Table 2: Specifications of Camera

26

This HD camera can be used for many applications. The camera has a transmitter
and receiver. The use of a camera is essential in most applications of the quadcopter.
It gives visual feedback to the controller.
4.2.9 REMOTE TRANSMITTER:
4.2.9.1TRANSMITTER SPECS:

Available with 4 S3152 digital high-torque servos (FUTK7000/7001); 4

S3004 ball bearing servos (FUTK7002); or 4 S3001 ball bearing servos

(FUTK7003)

Dial 'n Key programming

Airplane/heli software

Assignable switches/functions

Up/down timer

Mode 1-4 selectable (modes 3 and 4 available via transmitter

software)

Large 72 x 32 LCD screen with adjustable contrast

10-model memory

6-character model naming

Digital trims, trim memory, EPA, sub-trims and servo reversing

(all channels)

Dual/Triple rates* (aileron/elevator/rudder)

Exponential (aileron/elevator/rudder)

Adjustable throttle cut

Fail-safe

NT8S600B 600mAh TxNiCd w/dual-output charger

27

Trainer system (cord required

Flap switch

Retract switch

Variable rate knob (channel 6)

Figure4.10 : Remote controller

28

RECEIVER SPECS:
This is the Futaba R617FS 2.4GHz FASST 7-Channel Park Flyer to Giant Scale
Aircraft Receiver.
FEATURES: High sensitivity receiver weighs only .25oz (7g) without case yet is a
full range system for all aircraft from giant scale to park flyer applications.
INCLUDES: Futaba R617FS 2.4GHz FASST 7-Channel Receiver
SPECS:

Size: 1.6 x 1.1 x .35" (40 x 27 x 9mm) Power Requirement: 4.8 - 6V

Current Drain: 80mA (at no signal), 74 mA(w/ signal no servos on 4.8) Weight:
0.34oz (9.8g) with case, 0.25oz (7g) without case

Figure 4.11: Receiver

The receiver is mounted on the quadcopter. The signals from the futaba 7 channel
remote are received by the receiver and then sent to the controller chip which

29

controls the quadcopter. The remote has various modes which can be installed into it
using a software. The quadcopter can be made to hover at a particular height, or can
be instructed to perform a sequence of actions by programming the remote
controller. Here , the remote controller we use is the Futaba 7 channel remote.

4.2.10SONARSENSOR:

42kHz Ultrasonic sensor

Operates from 2.5-5.5V

Low 2mA supply current

20Hz reading rate

RS232 Serial Output - 9600bps

Analog Output - 10mV/inch

PWM Output - 147uS/inch

Range:

to

Figure 4.12: Sonar Sensor

255

inches

(0

to

6.45m)

30

Small, light weight module.

Sonar (originally an acronym for SOund Navigation And Ranging) is a technique
that uses sound propagation. Sonar may also be used in air for robot navigation, and
SODAR (an upward looking in-air sonar) is used for atmospheric investigations. The
term sonar is also used for the equipment used to generate and receive the sound.
The acoustic frequencies used in sonar systems vary from very low (infrasonic) to
extremely high (ultrasonic). The study of underwater sound is known as underwater
acoustics or hydroacoustics.

Figure 4.13:

31

CHAPTER-5
5.1 APPLICATIONS :

MILITARY USE

COVERT OPERATIONS

TRAFFIC SURVEILLANCE

FOR CHECKING THE GAS LEVELS IN INDUSTRIES

UNMANNED MILITARY WARFARE

FOR CONSTRUCTION PURPOSE

GEO PHYSICAL SURVEY

RAILWAY TRACK BED INSPECTION

COASTAL MAPPING

All the above applications are some of the major applications which the quadcopter
is being used for, developed and fine tuned in the future. The mass use of the
quadcopter is inevitable due the applications it offers. For example, in the military
use the quadcopter is already being used. The advantage is that it can save many
number of lives of the soldiers. It can also be used for covert operations such as
spying by the military. Small size quadcopters are very much suitable for such tasks.
Apart from the use in the military, the quadcopter can also be used in the cities for
traffic surveillance, industry surveillance etc. The quadcopter can also be used for
military warfare, but it needs a lot of development as the shock generated during
firing needs to be balanced.

32

COST OF THE PROJECT:

FLIGHT GUIDANCE CHIP

Rs 15000

FUTABA REMOTE

Rs 15,000

LIPO BATTERIES

Rs8,000

MOTORS

Rs 4000

PROPELLERS

Rs 2000

GPS

Rs 5000

FRAME FABRICATION

Rs 5000

WIRESET,

Rs 5000

MISCELLANEOUS,

ALUMINIUM ARMS

Rs 3000

SONAR SENSOR

Rs 3,000

ESCs

Rs 5,000

POWER
CHIP

DISTRIBUTION Rs 1000

33

CHAPTER 6
CONCLUSION:
The quadcopter is a novel design which can be easily controlled when it is
compared to a helicopter. We have fabricated the frame and the arms of the
quadcopter and showed the working principle. The knowledge we have gained is
valuable but the quadcopter is vast topic and the time was not sufficient to calculate
all the aspects of the quadcopter. We plan to do further research in the future as we
now know the various problems faced by the quadcopter. It has fixed rotors and their
movement can be controlled just by changing the speed of the blades. The
applications of the

quadcopter are numerous and with the requirement and

advancement of UAVs , the scope for its use has increased drastically. However,
yet some issues are to be decoded completely such as the short flight time ,
balancing and the weight carrying capacity which have to be further investigated.
But we have showed that the advantages outweigh the disadvantages. A lot of
research needs to be done on the quadcopter for the best results in the future.
Considering the financial aspects in designing the Quadcopter initial cost is high as
the parts purchased are genuine, but if we manufacture these quadcopters in mass
production cost can be minimized, based upon the type of applications, cost may
increase or decrease.

34

RESULT

Figure 6.1 : FINAL MODEL OF QUADCOPTER

35

CHAPTER-7
\
REFERENCES
[1] RCToys. http://www.rctoys.com. 2
[2] Silverlit. http://www.silverlit.com. 2
[3] Microdrones GmbH. http://www.microdrones.com. 2
[4] L. Beji K. M. Zemalache and H. Marref. Control of an under-actuated system:
Application to a four rotors rotorcraft. IEEE International Conference on
Robotics and Biomimetics, pages 404 409, 2005. 2
[5] A. Abichou L. Beji and K. M. Zemalache. Smooth control of an x4 bidirectional
rotors flying robot. Fifth International Workshop on Robot Motion
and Control, pages 181 186, 2005. 2
[6] P. McKerrow. Modelling the drganflyer four-rotor helicopter. Proceedings of
the IEEE International Conference on Robotics and Automation, (4):3596
3601, 2004. 2, 6.2
[7] M. Achtelik K. M. Doth G. Hirzinger D. Gurdan, J. Stumpf and D. Rus.
Energy-efficient autonomous four-rotor flying robot controlled at 1 khz. IEEE
International Conference on Robotics and Automation, pages 361 366, 2007.
[8] P. Murrieri S. Bouabdallah and R. Siegwart. Design and control of an
indoormicro quadrotor