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Microcontroller based telemetry application for collision avoidance in multicopters

Prokas Nikolaos

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Summary

In the last decade, the transition of the construction industry and exploitation of unmanned flying vehicles (UAVs) from military to purely commercial, industrial and environmental applications have dramatically increased their penetration in society. The continuous technological improvement of UAVs in conjunction with their cost reduction, make them very popular for the simple citizen. However, most of the commercial low-cost systems available on the market have limited technical capabilities (e.g. image or video acquisition) and new sensor integration is a particularly challenging if not impossible task. The objective of this diploma thesis is the addition of an embedded system which allows the user to customize their UAV with different types of sensors, depending on the application needs, thereby improving user-friendliness and value for money ratio. In order to achieve this goal, an innovative communication protocol based on I2C has been implemented. This protocol enables the rapid and reliable transfer of data from the embedded system to the flight controller of the UAV.The encouraging results of the reliability of this new communication protocol, resulting from tests in real flight conditions, led to its exploitation, in obstacle avoidance applications for UAVs. Specifically, the same protocol was used in order to transfer the proximity sensor data to the UAV in collision processes with objects and/or other UAVs.The interdisciplinary approach (embedded systems, flight controller, mechanical engineering, aerodynamics, flight safety, aircraft fleet management), which was implemented, resulted in a product which can be used both by the UAV manufacturers, and independently by any citizen to build or customize their own UAV.

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