Design and Control of a Quadrotor for SLAM Applications

Benaissa, Tayeb

dc.contributor.author	Benaissa, Tayeb
dc.contributor.other	Zabel, Abdelghani, Directeur de thèse
dc.contributor.other	Boudana, Djamel, Directeur de thèse
dc.date.accessioned	2025-10-05T09:19:39Z
dc.date.available	2025-10-05T09:19:39Z
dc.date.issued	2025
dc.identifier.other	EP00900
dc.identifier.uri	http://repository.enp.edu.dz/jspui/handle/123456789/11193
dc.description	Mémoire de Projet de Fin d’Études : Automatique : Alger, École Nationale Polytechnique : 2025	fr_FR
dc.description.abstract	This project presents the design and implementation of an autonomous quadrotor system for Visual Simultaneous Localization and Mapping (V-SLAM). We use a quaternion-based dynamic model with cascaded P-PID control implemented on both Pixhawk 4 Mini (QAV250 configura- tion) and Pixhawk 2.4.8 (X500 configuration) flight controllers. The ORB-SLAM3 algorithm is deployed on a Jetson Orin Nano using an Intel RealSense D435 camera, supporting both stereo and RGB-D modes, with real-time performance evaluation in ROS. The system’s theoretical foundations, practical implementation challenges, and experimental validation are thoroughly examined.	fr_FR
dc.language.iso	en	fr_FR
dc.subject	Autonomous Quadrotor	fr_FR
dc.subject	PID Control	fr_FR
dc.subject	PX4 Autopilot	fr_FR
dc.subject	Jetson Orin Nano	fr_FR
dc.subject	ORB-SLAM3	fr_FR
dc.subject	RealSense D435	fr_FR
dc.title	Design and Control of a Quadrotor for SLAM Applications	fr_FR
dc.type	Thesis	fr_FR