Stable hovering architecture for nanoquadcopter applications in indoor environments

This research aims at designing a stable hovering architecture for small size quadcopters in indoor environments. The chosen system is a Crazyflie 2.0 nanoquadcopter. First, using the Newton-Euler equations, the dynamic nonlinear model is built. This model allows for simulations and feedback controller design. Second, a 3D indoor environment was created for real-time applications. A Kinect Sensor is considered for real time position measurements, at the same time with obtaining orientations from the gyroscope of the Crazyflie. For practical implementation, a combination between Python and Matlab facilities was considered. The first prototype of the proposed architecture was evaluated for different scenarios and the experimental results are detailed and commented.