Abstract
In this research project the developed an autonomous quadrotor helicopter is used for in indoor search applications. The helicopter body weighs 0.83 kg and can carry a payload weighing 0.4 kg. It is equipped with MEMS sensors (gyro, acceleration, magnetic, and pressure), a PSD unit, an ultrasonic sensor, and an optical position sensor. The control system employed an RX CPU. To measure the attitude angle, the output signal of the gyro sensor is passed through a filter to eliminate vibration components and then integrated. Correction based on the acceleration sensor is applied to suppress the drift of integration. Position calculation is performed by the optical position sensor, which is observed infrared LEDs placed on the floor. As a result, hovering was achieved with an accuracy of ±0.3 meter.
