Modelling and Implementation of Autonomous Control for Octocopter UAV

Abstract

This paper presents the modeling and implementation of autonomous control system for octocopter UAV. In the first part, the details of dynamic and kinetic model of octocopter UAV are derived by applying the Newton-Euler method. The formulated model is detailed including aerodynamic effects and rotor dynamics that are omitted in other literatures. Different hardware materials and frame layout is introduced and then construction is also continued. In this work, the frame design of this vehicle is developed. The arm of the frame is inclined to three degrees to get more lift force and it can get more stable than normal frame. The octocopter’s stability is implemented using the PID controller in real flight. After implementing above these steps, autonomous flight tests of octocopter Unmanned Aerial Vehicle (UAV) is also performed in real field.