Diseño e implementación de un vehículo aéreo no tripulado UAV de bajo coste

Abstract

This document describes a methodology to construct a low-cost unmanned aerial vehicle from scratch. With the methodology proposed in this document, we can identify the different parts that a quadcopter unmanned aerial vehicle is composed of, its considerations, and the design method of each element. We show a coreless motor power management circuit and how it helps to reduce the distortion in the power supply stage of the UAV. Additionally, we explore the design of a PCB and chassis that allows connecting every element of the UAV. We observe the use of basic sensors to obtain 3 degrees of freedom of orientation and relative altitude, with the information from these sensors fused using a Kalman Filter and other techniques. We explore the complete kinematics and dynamics of a quadcopter and create a rough linearized model to control the orientation and altitude of the quadcopter UAV through the thrust of the motor-propeller system with a PID controller. Finally, we explore the implementation of a local web server using the ESP32, which enables a direct connection between a device (such as a smartphone or computer) and the UAV. This document provides the basic elements to get started in constructing a UAV and explores the different disciplines, from the fundamentals to understanding the basics of design and implementation of unmanned aerial vehicles.