Engineering Commons^™

Development Of A Low-Cost Experimental Quadcopter Testbed Using An Arduino Controller And Software, Ankyda Ji, Kamran Turkoglu

Kamran Turkoglu

This paper explains the integration process of an autonomous quadcopter platform and the design of Arduino based novel software architecture that enables the execution of advanced control laws on low-cost off-the-shelf products based frameworks. Here, quadcopter dynamics are explored through the classical nonlinear equations of motion. Next, quadcopter is designed, built and assembled using off-the-shelf, low-cost products to carry a camera payload which is mainly utilized for any type of surveillance missions. System identification of the quadcopter dynamics is accomplished through the use of sweep data and CIFER^R to obtain the dynamic model. The unstable, non-linear quadcopter dynamics are …