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Development of an Autonomous Quadrotor with a Robust Real-time Control: A Review on Modeling, Estimation, Control, and Hardware Aspects

The following
report is a comprehensive discussion on
the development of a resilient autonomous
quadrotor equipped with a robust control
mechanism for optimal performance. An introduction
to quadrotor modeling and flight dynamics
is provided first. The autopilot control
and state estimation methods are then
described from both software and hardware
viewpoints. A review of PX4 autopilot
control architecture is provided to comprehend
a complete control system integration. It
is followed by a survey of commonly
used sensors, micro-controllers, actuators, and
other hardware peripherals used in academic
and commercial grade quadrotors, along with
their architectural overview. Next, a brief
discussion on the software components essential
for a real-time implementation of the
developed control system on the hardware
is done. Finally, concluding remarks are
made on each stage of quadcopter development,
and potential research problems are forecasted.