Towards a low-cost quadrotor research platform

Loading...
Thumbnail Image
Authors
Burkamshaw, Leon Keith.
Subjects
Rapid application development
quadrotor helicopter
quadcopter
inertial measurement unit
digital signal processing
Nintendo Wii Motionplus
dsPIC
Advisors
Horner, Douglas
Date of Issue
2010-03
Date
March 2010
Publisher
Monterey, California. Naval Postgraduate School
Language
Abstract
Two aspects of currently available Miniature UAVs (MUAVs) that limit the adoption of this technology for civil and research purposes are the high cost and closed design philosophy. This thesis attempts to solve these problems by presenting an open source design that is focused on low-cost, while maintaining a reasonable level of performance. The use of Commercial Off-The-Shelf (COTS) equipment is maximized where possible to reduce development time and cost. A novel approach used by this design is the use of a Nintendo Wii MotionPlus device as an Inertial Measurement Unit (IMU). This mass produced COTS part provides a three degree of freedom IMU for minimal cost. All software is of a modular design to ease understanding and facilitate improvements. To reduce development time, and to help discover requirements, a Rapid Application Development (RAD) methodology has been adopted that is suitable for implementation by a single developer. Software prototypes are constructed and iteratively built upon to discover more requirements. At the completion of each phase, testing is performed. Once a suitable level of maturity has been reached, the software prototype is rolled into the main build. Flight-testing is performed at the completion of the design along with a quantitative measure of flight stability.
Type
Description
Series/Report No
Department
Computer Science
Software Engineering
Organization
Identifiers
NPS Report Number
Sponsors
Funder
Format
xviii, 67 p. : col. ill. ; 28 cm.
Citation
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
Collections