Thesis Details

Navigace a řízení kvadrokoptéry

Bachelor's Thesis Student: Doležal Karel Academic Year: 2011/2012 Supervisor: Herman David, Ing.
English title
Quadrocopter Navigation and Control

This paper focuses on autonomous navigation of AR.Drone quadrocopter in outdoor environment. The goal is to follow a specified route and land autonomously on a platform placed at the destination. Firstly, the AR.Drone platform, its development kit and sensor extension with GPS and a magnetic compass are described. Then, the navigation architecture of a control program is presented describing important blocks and its' individual tactics. Localization of the landing platform is based on its color. The video is also used to detect nearby obstacles using optical flow calculation suppressing the quadrocopter movements and to avoid the greater changes in the image. The control program implementation is then tested in real environment and the results are presented.


quadrocopter, AR.Drone, GPS, optical flow, autonomous navigation, obstacle detection

Degree Programme
defended, grade A
12 June 2012
Zbořil František V., doc. Ing., CSc. (DITS FIT BUT), předseda
Kořenek Jan, doc. Ing., Ph.D. (DCSY FIT BUT), člen
Očenášek Pavel, Mgr. Ing., Ph.D. (DIFS FIT BUT), člen
Smrž Pavel, doc. RNDr., Ph.D. (DCGM FIT BUT), člen
Zbořil František, doc. Ing., Ph.D. (DITS FIT BUT), člen
DOLEŽAL, Karel. Navigace a řízení kvadrokoptéry. Brno, 2012. Bachelor's Thesis. Brno University of Technology, Faculty of Information Technology. 2012-06-12. Supervised by Herman David. Available from:
    author = "Karel Dole\v{z}al",
    type = "Bachelor's thesis",
    title = "Navigace a \v{r}\'{i}zen\'{i} kvadrokopt\'{e}ry",
    school = "Brno University of Technology, Faculty of Information Technology",
    year = 2012,
    location = "Brno, CZ",
    language = "czech",
    url = ""
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