Effect of Path Planning on Flying Measured Characteristics for Quadcopter Using APM2.6 Controller

  IJETT-book-cover  International Journal of Engineering Trends and Technology (IJETT)          
© 2015 by IJETT Journal
Volume-23 Number-7
Year of Publication : 2015
Authors : Wael R. Abdulmajeed, Omar A. Athab, Ihab A. Sattam


Wael R. Abdulmajeed, Omar A. Athab, Ihab A. Sattam"Effect of Path Planning on Flying Measured Characteristics for Quadcopter Using APM2.6 Controller", International Journal of Engineering Trends and Technology (IJETT), V23(7),329-334 May 2015. ISSN:2231-5381. www.ijettjournal.org. published by seventh sense research group

The effect of path planning for quadcopter flying robot on flying measured characteristics velocity and flying angles (Roll, Pitch and Yaw) have been investigated. Ardupilot Mega2.6 autopilot system controller is used; this controller has the ability to run many multi-rotor or Unmanned Aerial Vehicle (UAV) capable of Performing GPS missions with waypoints. The controller works with software called Mission Planner, this software is open with Google map to implement and record the estimated path for the quadcopter. Through the mission planner software the velocity of flying robot can be set between the waypoints. Three different types of path planning have been studied. Comparisons between the estimated velocities calculated from Mission Planner and the actual velocity have been conducted. The actual flying angles reading (Roll, Pitch and Yaw) have been recorded and compared with estimated angles for all three tests. The Robot shows more stability after each flying test also the velocity of the robot after each test became more close to the set velocity in mission planner for the robot, this relate to the rebalancing of the robot after each test.


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Quadcopter, APM2.6 Controller, Autopilot system, Path planning, Velocity, Flying angles.