Autonomous flight control law for an indoor UAV quadrotor

摘要

This paper proposes a control law using open source autopilot controller to realize autonomous flight of indoor UAV quadrotor in the environment of motion capture system (i.e. Optitrack). Dynamic modeling, controller design, overall system design are introduced respectively. The working principle of the system, hardware components and software components are described as well. The experimental results are provided to demonstrate the effectiveness of the proposed scheme.