Quadrotor hovercraft

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Stabilization, control, and dynamic motion planning of quadrotor hovercraft: In this work we developed a quadrotor hovercraft. We developed the entire structure electronics architecture and software at the lab. The hovercraft uses complimentary filter to estimate its attitude using gyroscopes and accelerometers. Control of the quadrotor is being done in either one of the two control laws: PID controller, and non-linear model based back-stepping controller. Finally we use a dynamic motion planner based on the RRT algorithm. We currently have four different quadrotors in the lab, each one has different size, design, electronics, and actuators.