A new control algorithm for balance and altitude control of a six-rotor helicopter (Hexacopter)

The major part of the research on unmanned aerial vehicles (UAVs) in the last decade was to deploy autonomous control related tasks. Environmental recognition and perception are the main hurdles impeding the decision making ability of the operated UAVs. The main thrust of autonomous control in this study is to address the impact of the control held in an unmanned environment. Employing, the developed autopilot and framework it is aimed to control the vehicle in an unknown environment with inadequate information, therefore it can perform a better navigation in such environment, where sensor and measurement noise is existing. In this thesis, the developed framework, autopilot, control algorithms, as well as applied localization and mapping tasks are implemented onto a six rotor helicopter (hexacopter). The main objectives we are seeking for the hexacopter application are threefold: * Balance and Altitude Control, * Localization and Mapping, * Safety Planning (Local Traffic Flow). The developed autopilot and control algorithms can be easily applied onto other types of multirotor systems (multi rotor helicopters) with minor modifications.