Assembly and tuning of a quadcopter for visual SLAM applications

Abstract

This project focuses on the development and optimization of a quadrotor UAV, emphasizing control systems and Simultaneous Localization and Mapping (SLAM) algorithms. We begin by exploring the Pixhawk 2.4.8 flight controller, developing a mathematical model for the quadrotor, and designing controllers using LQR, pole placement, and PID methods to ensure optimal performance. The implementation of Visual SLAM is carried out using the ORB-SLAM algorithm on a Raspberry Pi 5, with a detailed examination of its theoretical foundations, practical application, and testing, highlighting both its strengths and challenges. Additionally, we conduct thorough component selection, cost analysis, parameter identification, and real-life testing to validate the effectiveness of our approaches.