四旋翼自主飞行器(B)研讨.docVIP

四旋翼自主飞行器（题） 摘 要 This design uses the R5F100LEA Renesas microcontroller as the core processing chip model, controlling brush coreless motor to achieve four rotor takeoff and steering. four-rotor aircraft flys over the regional travel automaticly, gets the flight attitude by MPU6050,ground clearance measured by ultrasonic module, using a linear CCD acquisition below the path information to obtain heading. Four-rotor aircraft takes off slowly and hovers for a moment firstly, then flys back and forth along the black line between AB, when the yaw, through the PWM and PID algorithm to ad