Autonomous flying  of quadrotor : for 3D modeling and inspection of mineshafts

Sammanfattning: This thesis presents a purposed navigation and control solution for autonomous ying of a quadrotor in conned spaces where positioning with GPS is notfeasible. The problem and related application considered is autonomous ying of a quadrotor in mineshafts for 3D modeling and inspection. Theoryand test results are presented including positioning experiments with a cameracombined with a UWB-ranging radio and a P-PI regulator for position control.It is argued that this is a viable and cost eective solution that can be usedto determine the position of the copter and control its position to within 0.2meters with stable controlled velocity.