In recent years, autonomous quadrotor drones have become increasingly prevalent due to their versatility in navigation and delivery applications. This project focuses on the modeling, simulation, and control design of a small autonomous quadcopter capable of self-stabilized flight and obstacle avoidance. Using MATLAB/Simulink, a custom 6-degree-of-freedom dynamic model based on our drone to simulate motion under various control strategies. A multi-loop PID control architecture was implemented to regulate position, attitude, and altitude, providing stable responses to external disturbances.
The physical platform consists of a lightweight frame powered by a 14.8 V Li-ion battery, four brushless DC motors, and a speedybee F405 mini flight controller integrated with a Raspberry Pi companion computer. Sensors such as GPS, LiDAR, and optical-flow modules enable environment perception for autonomous path planning and collision avoidance. Together, these components form a system capable of performing in both indoor and outdoor environments, with the goals of payload transport and fully automated delivery missions.