TY - THES ID - 137823479 TI - Development and evaluation of a quadrotor UAV based on a deterministic processor AU - Lauwerys, Didier AU - Janssens, Luc AU - Feron, Jean-Brieux AU - Ruiz, Marco AU - KU Leuven. Faculteit Industriële Ingenieurswetenschappen. Opleiding Master in de industriële wetenschappen. Elektronica-ICT (Leuven) PY - 2018 PB - Leuven KU Leuven. Faculteit Industriële Ingenieurswetenschappen DB - UniCat UR - https://www.unicat.be/uniCat?func=search&query=sysid:137823479 AB - With the recent development in Unmanned Aerial Vehicles (UAV) technologies, these platforms appear as a credible alternative to conventional solutions in applications such as inspection, surveillance, crop yield analysis or goods delivery. However, it has been shown that commercial drones still lack in reliability when in critical environments/missions. For its space applications, SABCA has developed the Control Loop Processor (CLP), a deterministic processor, that could help tackle the lack in reliability. The determinism of this system ensures its complete behavior predictability, a key feature for tomorrow intelligent systems in charge of mission-critical tasks (autonomous cars, surgical robots, unmanned airplanes, etc). In the framework of this master thesis, I developed and tested a quadrotor UAV control system demonstrator with a colleague, based on the CLP in order to evaluate the system control performance and architectural relevance. This demonstrator is able to hover and manoeuver above the ground in an autonomous and a relatively stable manner. The CLP is capable of accomplishing this, the implementation however lacks and needs improvement in performance and robustness. The performance can be improved with further testing and development on the quadrotor UAV. The control done by the control algorithm has room for improvement and additional sensors can add to the reliability of the attitude and elevation estimation. To improve the robustness, we need to identify failure modes and mitigate them in our implementation. To go further, a more strict development process can be followed, such as the DO-178C standard or the European cooperation for space standardization(ECSS) from the European space agency(ESA), the development and testing will follow an international standard, which will guarantee safety and dependability of the software. ER -