Control and Development of Coaxial Octocopter for Human Transportation in Gazebo
Anupama Vijay, V. R. Jisha, Robin Emmanuel · 2019
A passenger drone is a type of UAV that is capable of transporting passengers. This paper describes the development of a modular multi-utility battery driven copter platform which is capable of carrying people and goods from a point A to point B. The virtual prototype of the platform is to be developed. The copter platform developed is a coaxial octacopter, that has eight motors which are paired in four axis with opposite rotation direction of the up and down paired rotors. The dynamic model of the octacopter is designed using the Euler Lagrange approach. The objective of the work involves developing the plant model for heavy lift drone in Gazebo and developing a stabilizing control system using PD controller. The plant model as well as its controller is simulated in Gazebo.