This project invovled the design, manufacturing, and testing of an autonomous quadrotor vehicle capable of both aerial flight and underwater locomotion. Our novel vehicle called "PoseiDrone" consists of a quadrotor frame with a waterproof enclosure containing the electronics and flight computer. A servo actuated ballast system is utilized for achieving air to water transitions and for active buoyancy control during underwater maneuvers. The vehicle's Teensy 4.0 based flight controller performs state estimation and control using custom software developed in C++. The craft may be piloted manually, or set to execute an autonomous mission which makes use of a sensor arrray to perform navigation and localization. Our team completed several design iterations of PoseiDrone to improve performance.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Beskid, Michael

Publisher

• Worcester Polytechnic Institute

Identifier

• 94771
• E-project-032323-180019

Keyword

• aerospace
• robotics
• quadrotor
• controls
• autonomy

Advisor

• Demetriou, Michael A.
• Fichera, Loris

Year

• 2023

Date created

• 2023-03-23

Resource type

• Major Qualifying Project

Major

• Aerospace Engineering

Source

• E-project-032323-180019

Rights statement

• In Copyright

Last modified

• 2023-04-13