Development of a Control System for Human Follower Quadcopter

The purpose is to develop a control system in a quadcopter that has two modes of flying systems, firstly controlled by remote control and the other one automated quadcopter that can follow human movement. For the human following capability of the quadcopter, ultrasonic is used to help identify the human position and movement by knowing the distance between the quadcopter and the person with an ultrasonic Thus, in order to create a good performance in both modes, flight control is developed by using PID control system and Inertial Measurement Unit (IMU) sensor. The lift capabilities experiment results the relation between input PWM and the lift force of the motor RF module is used in the distance estimation process to synchronize the microcontroller’s time in the human and quadcopter. Therefore, the human movement and human position can be estimated by using triangulation method