Control design and visual autonomous navigation of quadrotor

Abstract

Starting from the fact that quadrotors are nonlinear MIMO system that operates in 3D space, the task of stabilizing and generating suitable control commands have been the interest of many researches. Another challenging task is the autonomous navigation as both the weight and the computation capacity are limited which constrains the type of sensors and algorithms. In this project, an autonomous navigation and obstacle avoidance system based on monocular camera has been implemented which enables the quadrotor navigates in previously unknown GPS-denied environment. Moreover, four controllers have been designed and their performance were compared.The mathematical model of a