An SoPC-based object tracking quadrotor

In this paper, a quadrotor unmanned aerial vehicle (UAV) is designed and implemented, and the whole control system is realized on an SoPC platform. The dynamic mathematical model of a quadrotor is derived using Euler-Lagrange equations. A simulation is conducted by applying PID controllers to control the derived model to verify that the PID method is able to stabilize a quadrotor. The aircraft is stabilized according to the sensory data from a tri-axis gyroscope and a tri-axis accelerometer providing angular rates and Euler angles, respectively, for the control system. In addition, a CMOS camera and an ultrasonic sensor mounted on the bottom of the aircraft enable the aircraft with functions of detecting and tracking a moving object, while the aircraft is flying. The resulting system can stably fly in indoor environments and track a specific object, satisfying the design and implementation purpose.