FABRICATION OF QUADCOPTER DRONE

Submitted in partial fulfilment of requirements for the award of degree in

BACHELOR OF TECHNOLOGY
IN
MECHANICAL ENGINEERING
SUBMITTED BY
Ms.N.DEEPIKA (19JK1A0318)
Mr.P.RECHAL PRUDHVI RAJU (19JK1A0322)
Mr.CH.VIJAY BABU (19JK1A0305)
Mr.CH.NANI (19JK1A0309)

Under the Esteemed guidance of

Mr. A. SAI PAVAN

M.Tech
Assistant Professor
Mechanical Engineering

Department of Mechanical Engineering

GUNTUR ENGINEERING COLLEGE

(Affiliated to JNTU Kakinada, Approved by AICTE, New Delhi)

NH-5, Yanamadala, GUNTUR – 522019, A.P

2019-2023

1
 GUNTUR ENGINEERING COLLEGE
(Affiliated to JNTU Kakinada, Approved by AICTE, New Delhi)
NH-5, Yanamadala, GUNTUR – 522019, A.P
2019-2023

DEPARTMENT OF MECHANICAL ENGINEERING

CERTIFICATE

This is to certify that the Project report entitled FABRICATION OF QUDRACOPTER

DRONE that is being submitted by CH.NANI 19JK1A0309,CH.VIJAY BABU 19JK1A0305,
N.DEEPIKA 19JK1A0318,P.RECHAL PRUDHVI RAJU 19JKIA0322,in partial fulfilment for
the award of the Degree of Bachelors in Technology in Mechanical Engineering in GUNTUR
ENGINEERING COLLEGE ,Affiliated to Jawaharlal Nehru Technological University,
Kakinada is a Bonafede work carried out by them under my guidance and supervision 2019-
2023.The results presented in this thesis have been verified and are found to be satisfactory.
The results embodied in this thesis have not been submitted to any other University for the
award of any other degree.

Project Guide Head of the Department

External Examiner

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S NO
CONTENTS PAGE NO
Abstract 5

Table of contents

List of figures

List of tables

Table of Contents

Literature review 22-27

Reference 30-32

CHAPTER-1
1 Introduction

o 1.1.Objective 7-8

o 1.2.Benefits of Drone delivery service 8

o 1.3.The disadvantages of delivery drone 9

o 1.4Future recommendation 9-10

o 1.5Maitenance of delivery drone 10-11

o 1.6. Drone design 12

o 1.7.Requirement 12-14

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 o 1.8Componentsn selection 14-15

o 1.9Motors 15-16

CHAPTER 2
Frame 16-17
2
o 2.1Batteries 17-18

o 2.2Landing gear 18

o 2.3Sensors: Nervous System 18-20

o 2.4.Electronic components 20

o 2.5.Controller 20-21

o 2.6.Item containers 21

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 ABSTRACT
The drone is commonly known as Unmanned Aerial Vehicles (UAVs). In today's world drone is
extensively used in every field, some of the common application of drone is now being used for
the Precision Agriculture, Search and Rescue, Wildlife Monitoring, Entertainment and others
fields. As the whole world was facing a fatal pandemic situation, drone surveillance becomes an
accommodating technology for mankind. The drone brings a technology revolution to the global
market. Drones are becoming profuse evolve technology in today's aeronautics, as like robotics.
Every drone marketing company is focusing on AI (Artificial Intelligent) or autonomous flights
system, but still, it requires human interactions. It was mainly controlled by remotes sensing
technology, even with only hardware it is not possible to fly (UAVs) drones, we must necessitate
its software and programming. The mathematical and physics law application makes it possible
for us to fly drones, but it is required much accuracy for stabilized hovering. Here we are using
different platforms such as Ardupilot, Python to develop obstacle avoidance and keyboard
control features in UAVS.

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INTRODUCTION

The project that our group planning to implement is a delivery drone. The components
used in delivery drone is mostly same to the normal drone but the different is the normal drone
basically controlled by someone while the delivery drone is improvised that control
autonomously which is no human handling it. As we might know, the drone is a flying
unmanned aircraft technology that fly controlled by human or fly autonomously by the software.
The drone can make beneficial to human by having the various functions such as recording
something with 360 degrees view from the sky, becoming guard security and delivering the
items. In general, the concept of drones has been taken from 1849 which is a war happened when
Austria attacked Venice by using unmanned balloons. From this basic concept giving idea to the
human to make the drones changed from illegal functions to the legal functions. Besides, in the
beginning of 1900s, the first quadcopters were implemented. At the time, the copter was
designed imaginatively. In addition, the created drone nowadays is further in advanced cause at
the early 1900s the flying aircraft achieve only 0.6 mSSSSeters and also sadly need the human
energy to make it flying. This making idea to the engineers for making a self-controlling drone
that can fly as high as possible. Then, after World War 1, in 1916 the first autonomous aircraft
was built by Archibald Low called Ruston Proctor Aerial Target. The pilotless aircraft used the
radio guidance system at that time. The concept of pilotless drone still make sense nowadays
cause it has more advantages than disadvantages. Furthermore, in 1937 the term of drone firstly
launching by developing Curtiss-N2C-2 drone. Besides, in 1930s the first a remote-controlled
model aircraft was built by Reginald Denny and Walter Righter. After that, in 1960s RC planes
kit was built and sold at reasonable cost and this attracted the enthusiasts to build and fly it for
fun. This idea had been taken by industry drones to grow the economic. In 1980 till 1989,
alternative powers sources which is solar power had been attracted attention by engineers. This
had led manufacturing AeroVironment HALSOL.

Next, in 2000, in Afghanistan they launch a famous drone called Predator for projectile
and also finding Osama Bin Laden. During 1990s-2010, drone start to grow and accepted by
human until now. During the time, Raven drone was mostly used by customers. In the early
2010s, a lot of customers used drone as a hobbyist and other new functional drones start to be

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introduced such as delivery vehicles. In addition, drone was added extra equipping like cameras.
This is because the cameras are commonly used in photography and videography. The graphic or
view from the sky is much beautiful. As for example, to make it a movie better in graphic, the
director commonly use drone with embedded cameras. Then, the advances drone allows us to
control speed of 4 or more rotors individually. This will improve the stability of the drones to fly
and can be used in number of ways. Drone has been made improvising to delivery drone.
Nowadays, there are many countries in developing and enlarging the uses of delivery drone. The
knowledge or idea to build delivery drone in certain country is still less. In Malaysia, the uses of
delivery drone to deliver the items is still zero due to the government still depend on the sending
the items by human energy. There are many sending items’ companies in Malaysia using human
energy such as Pos Laju, Grabfood, Foodpanda, DHL and Lalamove. Therefore, they think the
delivery drone is no need in the country to send the items. Otherwise, they should try using the
delivery drone in sending items for replacing or helping human’s energy. In addition, all country
also should invent and use the delivery drone like the USA that currently introduced their
delivery drone and firstly used by the consumers. On October 2019, Wing company from US
becoming the first in operating air delivery service by drones to homes. The items that usually
brought by delivery drone created by Wing Company are packages, medication, snacks, and gifts
and these will be transported to the consumers in Christiansburg, Va. The Wing company helped
FedEx Express and Walgreens in sending the items to the customers by using drone. This made a
history to the World and also in America cause the Wing company was the first company
collaborated with other delivery services in US and sent items pilotless.

OBJECTIVE

 To design a quadcopter that has the required load capacity and range as discussed in the
previous section, using components that are easily available and cost effective.
 Design of the quadcopter also includes a flight controller that can fulfill the requirements
of the system.
 To tune the PID controller in order to make the quadcopter stable and efficient.
 To perform analysis of the drone delivery system and compare it with traditional
delivery system.

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  To study the implications of drone delivery system on environment, energy
consumption, public safety, personal privacy, air pollution, noise pollution, air traffic
management and urban planning.

Benefits of drone delivery service

Since the declaration of a pandemic, local officials have asked residents to keep a healthy
distance and to restrict exposure to the virus. This significantly impacted the food and package
distribution systems since it could be a potential factor of contamination. The use of commercial
drones is encouraging as most of the commercial drones can be updated with payload drop
mechanism and used for package deliveries without risking both parties. The drone distribution
system is especially relevant in areas where the existence of the virus is imminent, such as
hospitals that actively manage the virus. Drones are an environmentally-friendly delivery choice.
They run batteries and eliminate the use of degenerative fuels and the creation of carbon
emissions. On the other hand, when your pack leaves the warehouse, it spends most of its time
on the road. The transport used to deliver this package emits fossil duels that are used for energy.
These fossil fuels are harmful to the atmosphere. The other advantage is the safety and speed at
which the packages are shipped. Since drones don't have to face road traffic and long land routes,
drone deliveries are big time-savings. Drivers bringing packages to the consumer's home assume
a level of risk due to their road-based activities. There is always a chance that they might be
involved in an accident, run out of fuel, or encounter delays due to road construction. Delivery
workers are often exposed to hazardous conditions, such as slippery stairway steps. Delivery
drones create a more stable delivery system because they eliminate all of these variables from the
equation. Through using a drone, people can only concentrate on order fulfilment and customer
service as drones deliver the items. Next is increase the accuracy of the deliver products.
Delivery drones are more efficient when delivering products to the right recipient. They have a
higher accuracy rate on delivering materials to the right recipient than a human. Incidents of
wrong recipients can significantly lessen. Thanks to GPS technology, delivery drones could
automatically navigate to a specific address when the product is ordered by the customer. This
technology has a higher performance rate compared to humans when performing the same tasks.
Drone delivery also can increase job opportunity. When delivery drone is introduced, it provides
more opportunity to others as it needs more observer for the tracking of the delivery drone

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The disadvantages of delivery drone

The effect of the battery. It requires an improvement in battery technologies to be

effective. The power requirements of the average delivery drone could lead to a loss of power in
20 minutes or less. This does not provide enough flying time to get the package to its intended
destination or get the drone back to the headquarters of the company. If the delivery drone fails
to perform its duty to the consumer, there will be a rise in customer complaints, product prices
and insurance premiums. If you couldn't get back to the business, you'd still have the logistics of
replacing or locating missing drones. There is a possibility that drones may be stolen. It does not
take a lot of expertise to detach the power system from a delivery drone. This risk is another
issue that businesses must face if they want to follow this express delivery option. Anyone can
uninstall the equipment at any time by purchasing a small product from their favourite e-
commerce website. If this action has taken place, it may be a struggle for the business to have
some means of recovering their land. Regulations and regulations are likely to require an update
to mitigate this danger if this service is going to become a reality. Delivery drones are offering a
privacy risk that we need to consider. One of the ways that this delivery system will possibly
provide drone delivery services is with the use of a camera. Streaming video to the company's
headquarters will allow managers to know if distribution has been completed successfully. This
technology could help to reduce the risk of theft in the future as well. The problem with a drone
camera is that you can pick up a video of people and assets that are not connected to the
transaction. There would be no consent given by the people who are caught in this stream. An
overhaul of the laws and regulations will also have to be implemented here. Another downside
for drones is their weight and distance limitations. This method of delivery can only be used for
smaller, lighter items shipped over small areas. Drone is generally a small device. So, the drone
can only hold an item depending on the weight of the thing. It would be a concern if the parcel
was too large, then the drone would not be able to achieve its capabilities. Distance also plays a
part in this case. If the address is too far away, the drone will be out of range. Therefore, the item
cannot be shipped. Noise emissions may be a matter of concern. This isn't a major problem right
now, since there aren't that many drones in use in any given place. But, as drone delivery
becomes more common, noise can become a problem that needs to be addressed.

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Future recommendation

These pros and cons delivery drones are still hypothetical at this point because the
technologies we use for this logistics option are still under development. This choice could, in
the future, become the regular express delivery service for customers who shop online. It might
be an idea that's less than five years away from being a reality. If we can learn from our mistakes
when continuing to finance research and development products, more businesses will be thinking
about implementing a service in the future. Enlarge the Scope of the Delivery. The usage of the
drone should not be only for dosage delivery, but it should be widened for international shipping,
here would no longer be a need for airplanes to transport some goods, delivery trucks to offer
home delivery, and other fossil fuel costs because warehouses would be conveniently located in
most urban areas. That reduces the price of shipping and handling because there are fewer
logistics to complete. Increase the Capacity of the drone. Increase the capacity is by increasing
the power and the endurance of the drones, so then it could carry and deliver not only small
amount or small size of products but then it may could deliver a larger size of box and more than
50 kg weighed products. Add Artificial Intelligence (AI). Artificial intelligence (or AI) is
software that is able to use and analyze data, algorithms and programming to perform actions,
anticipate problems and learn to adapt to a variety of circumstances with and without
supervision. This usage of AI could help the drone to operate without human observation in any
circumstances. This may help during the technical problem. The solution for the accelerated and
more efficient roll-out of Prime Air and other drone services would be to circumvent the nasty,
cumbersome, costly grid infrastructure and use solar power. Through using light solar cells to
refuel drones on-the-go, they would be able to fly non-stop for longer periods of time. These
solar-powered drones would need less maintenance, longer battery life, and less will be required
since drone hubs can be installed anywhere at any time. Solar-powered drone deployment is
getting simpler and quicker, making it more responsive to consumer demands. Taken one step
further, the deployment of solar-powered drones will also contribute to a surge in services.

Maintenance of Delivery Drone

Delivery staff should always check the battery before using a drone. This is because the
use of the drone battery is very strong. In order to ensure that the item can be shipped to the
customer, the worker should first check the amount of the battery as the drone can go and back to

10
the hub safely. Inspect the drone features before and after the system has been used. It's because
to make sure the drone is ready to use, and if any bugs are found, it can be resolved immediately.
This move will ensure that the drone is still in a good condition. Monitor the delivery drone in a
disciplined manner and treat the delivery drone with care as your personal property. Drone can
be called a sensitive vehicle since there are pieces that are really important to take care of. If the
drone is handled nicely, it can be long-lasting.

Document all the activities that were added to the drone. From this information,
engineers will know which components of drones have been in use for a long time and can be
replaced by a new one. So, with good components, it can work efficiently. Check the right
customer, the right product, and the right location before delivering the materials. The item will
be delivered successfully if the drone is assigned to the right place. The customer will satisfy
with the service and will not complain about it. Alert to the engineers if drone malfunctions are
observed. It is really necessary to prevent the drone from not functioning when transporting the
item because there are some issues like the drone is already travel for a lot of distances and reach
the abilities itself. The engineers can repair or create a new one if the drone is completely out of
place. Often keep track of drones when transporting commodities. The tracker will still know
what the drone is doing. For example, if it's unexpectedly lost on track, the worker will see
where the last point of the drone was. As a consequence, the ability of drones to lose is poor.

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 Figure 1. Shared autonomous drone package delivery system operations

DRONE DESIGN

Requirement

we determined that a drone with a total range of 5 kilometers is sufficient to cover the
urban areas in the country. However, for the purposes of this paper, we will fabricate a prototype
with lower specifications. The reason is to keep the prototype inexpensive, easy to build easy to
test.

Apart from load capacity and range, the UAV must have some other features as well. It
will have to be able to take off from small platforms and hover at the target destination, as to
wait for the parcel to be collected. Ideally the UAV should be equipped with a camera for
security reason. It should also be connected to a network so that any change in destination or
cancellation of the flight can be sent to the vehicle. These features are not going to be included in
our prototype due to time and budget constraints.

Our requirements for the UAV are as follows:

• The vehicle must have VTOL capabilities.

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 • The range of the vehicle must be at least 3 kilometers.

• The load capacity of the vehicle should be at least 1 kilogram.

• The weight of the vehicle must be kept minimum. Ideally, less than the carrying load.

• The vehicle must be able to maintain a constant altitude of 20 meters.

The two broad categories of aerial vehicles are fixed-wing aircraft and rotary-wing aircraft. A
rotary-wing aircraft has some advantages and disadvantages compared to fixed-wing aircraft.
The most important advantage of rotary-wing aircraft over fixed-wing aircraft is that it can take
off and land vertically. Rotary-wing aircraft also has the abilities of hovering and headless flight.
On the other side, rotary-wing aircraft have lower maximum speeds compared to fixed-wing
aircraft. Building fixed-wing aircraft is relatively harder because the control surfaces have to be
made using advanced manufacturing techniques. On the other hand, propellers for rotary-wing
aircraft are mass produced and are available in all sizes on the market.

There are several different types of rotary-wing aircraft, depending on the number of and
position of rotors. The most recognized type is the helicopter. It has one horizontal rotor that is
used for lift and horizontal movement and one vertical tail rotor to counter the torque of the main
rotor. The pitch of the main rotor can be varied dynamically and that’s how the helicopter is able
to move forward, backward, or sideward. Rotors with dynamic pitch are much more complicated
than simple fixed pitch rotors. These complications make a helicopter harder to control.
Therefore, a helicopter is not considered an ideal vehicle for this application.

Other types of rotary-wing aircraft that have been developed and tested are bicopters, tricopters,
quadcopters, hexacopters, and octocopters. Aircraft with even number of rotors in symmetric
formation are easy to build and operate because the torques generated by the rotors can counter
one another. This eliminates the need for a separate rotor for stabilization such as in the case of
helicopter. Bicopters require a moveable platform for both its rotors to achieve stability and
forward motion. Having a moveable platform for rotors allow bicopters to achieve greater speeds
than other rotary-wing aircraft. But it adds to the complexity of the system and control.

Quadcopters, hexacopters and octocopters are basically the same. The only difference is that
more rotors increase load capacity. However, BLDC motors are nowadays available in bigger

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sizes, and it is more efficient to use 4 large rotors compared to six or eight small rotors. For
applications similar to ours, such as aerial photography, quadcopters are widely used.

Basic design of a quadcopter consists of four rotor assemblies, attached at the end of four arms to
a central hub. All rotors are in one plane, and they all generate thrust in the same direction,
perpendicular to the aircraft. Unlike bicopters, the rotor platforms are fixed. The aircraft is
symmetric in shape. All the rotors have to be able to produce equal amount of thrust given a
specific input. The angular momentums of the rotors generate a torque at the center of mass of
the aircraft, which causes it to spin around vertical axis. To overcome this effect, opposite rotors
spin in the same direction while adjacent rotors spin in opposing directions. This is an advantage
of the quadcopter design because the vehicle does not need additional gyroscopes or rotors with
the sole purpose of countering unwanted torques on the aircraft. An X-quadcopter is selected for
our application. X-quadcopter means two rotors are tilted down and two are tilted up in order to
move horizontally. The motors used to power the rotors are BLDC motors. BLDC motors have
higher efficiency compared to brushed DC motors and are controlled by a PWM signal, which
means their speed can be controlled digitally with high precision.

Components Selection

To have a closer and detailed look at the drone design and component, it is best to break
it part by part. Drone is a complex device that integrate different of components working

14
together and of course each component serve a different function. Hence different materials are
to be selected to build a certain part.

There are several important parts that can be break apart to explain the design better.
Such as the frame of the drone, the motors and propellers that produce the upward thrust, the
batteries which provide electrical energy to the drone, and sensors which play a biggest role as
the drone nervous system.

Motors

Since drones are flying objects, hence it needs a source of upward thrust to be able to get
off the ground. In order to produce such thrust, the drone need to be occupied with motors and
propellers. Normally, the motors used are usually small direct current (DC) motors. The motors
itself are small to reduces the drone weight and yet provide enough power to uplift the drone and
the item that are being delivered. The DC motors used, have small permanent magnets that are
made of iron and copper or cobalt alloys. The significances of using alloys as the material of
producing the motors is because alloys are relatively smaller and lighter compared to other
resources. However, during flight, motors produced heat over times so a very good heat
conductivity material such as aluminum are used to absorb the heat away and helps in cooling
down the component.

As for the type of the motors, there are mainly two type of motors that are commonly
used in the drone manufacturing but the one that the team decide to use is the brushless motor.
The reason of choosing the brushless type is because the motor is more efficient compared to the
brushed motor in term of energy consumption because the resistant is lower. In addition, the

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brushless motor lasts longer compared to the brushed motor as it has no brush to wear out.
Moreover, the brushless motors provide a better thrust to weight ratio which can score up to 13:1
weight to thrust ratio, and for the quadcopter it is theoretically enough thrust to lift up average
food products.

Moving on to the propellers, without a proper propeller design, the motors serve nothing
in providing thrust for to the drone. Basically, propeller is a component that convert rotary
motion generated by the motor into upward thrust. The way the propellers create the thrust is by
creating an air flow when it spins resulting the difference in pressure between the top and the
bottom surfaces of the propellers. The phenomena create an acceleration of a mass of air from
the environment in one direction which in this case the air accelerate downward creating an
upward thrust providing lift which counteracts the force of the gravity.

For drones which has multirotor like the quadcopter itself, the propellers are arranged in
pairs to create a balance when the propellers spinning counteracts to one another. This feature
allows the drone to hover sturdily, descend, ascend, and glide across the air space smoothly.

In terms of the shape and the size of the propellers, the shorter propellers required less
energy to get up to a certain speed due to its lower inertia however along and wide propellers
produce a lot more force and lift due to its larger surface area. However, longer propellers
required significantly larger motor power because of its inertia and slightly bigger weight.

When it comes to delivery drone, the main point is the ability of the drone to transport an
item from one place to another with great stability to ensure a perfect of the delivered item.
Hence, a longer and small pitch propeller is suitable because it provides stability to the drone as
well as larger upward lift rather than bursting the speed.

All in all, the motors that the drone going to feature is the brushless DC motor which
provide great rotor power and it is guaranteed to be long lasting also very well known for its
efficient power consumption. Other than that, the propellers that are chosen to be featured in the
manufacturing of the drone is the longer propellers with small pitch as is perform well among the
heavy-lifter drone because it provides a great stability as well as creating a larger force which is
an important feature for a delivery drone to lift various items.

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Frame

The frame is important in the manufacturing the drone because it give the drone its shape
and design and holds all the components of the subsystem in place. Since the frame serves a
mechanical functionality, the most crucial part to be consider is to build it using a material with
strong and high durability properties. Not just that, the frame also serves as an aesthetic value for
the drone to look good as well as maintaining the functionality.

Particularly, in this project, the drone is expected to be able to carry an item with the
mass of at least 5 kilograms. Hence, to suit the purpose, it is best to use the thermoplastic such as
nylon, polyester, polystyrene because not only it is incredibly strong but also very light.

Batteries

Of all the components in a drone, battery is one of the most important key components to
look up to. A multirotor drone like the quadcopter need a great electric source to power up the
system and to prolong the flight time. It is very important as the delivery Propellers drone is used
as an industrial service, hence the flight time and the recharge period of the battery are to be
taken seriously. Most of the time, the battery performance can be determine based on its weight.

However, the modern technology has come up with a better solution which is the Lithium
Polymer battery or also known as the LiPo battery which provide longer flight time while
weighting less and having great flexibility. This is due to the chemical composition of the battery
that allow higher capacities and higher discharge rate.

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 In addition, it is also one of those rechargeable batteries which comes in handy in cutting
the cost of replacing the batteries each time it run out of power. But the truth to be told is unlike
other rechargeable batteries such as the well-known Lithium-ion battery, the LiPo battery hardly
discharge on its own, hence they can store the charge up to one to two month and still be ready
for flight.

Hence, the battery that is featured in the drone is the Lithium Polymer battery or the LiPo
battery as it provides better charging and discharging rate and weight less. Also, it is good at
preserving the voltage of the battery meaning a fully charged battery can be stored for up to
several months and still can power the drone at any time making it convenient for the project
purpose.

The Landing Gear

The landing gear as the name suggest is a part of a drone that is very useful when it is
about to take off and landing. This component is important as it provide support while taking off
and to ensure a safe landing to the drone. choosing the right material is very important when we
about to manufacture the landing gear as we must bear in mind that the material need to be
strong but also weight less. Hence, the landing gear is made off aluminium as it is strong and
weight less but at the same time it gives support to the drone and balance out the centre gravity
of the drone. the landing gear is designed to be broad at the bottom part to ensure large area so
the drone would experience less impact while landing and give extra support while taking off. In
case of the delivery drone, this component also helps in mounting the item container.

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Sensors: The Nervous System

Since quadcopter as the name suggest consists of four motors that provide certain thrust
power to balance out the drone during flight. Since it is focusing on delicate balancing during
flight, even if one motor provides slightly more power than others would bring about the
imbalance to the drone causing it to tilt or even flip on air. As how the human body uses a
complex nervous system to keep the balance while doing activities, the drone too has their own
sensors network that work similarly to the human body to keep the balance during flight.

One the sensors used in the drone nervous system is accelerometer. Accelerometers are
used to sense the drone position and the movement of the drone. This sensor is very important in
maintaining the flight control as it helps is stabilizing the drone by determining the orientation of
the drone. The feature is very important to keep the drone flying on a correct orientation as well
as preventing the drone from flipping over while on air.

Next, one of the most important sensors in drone is the Inertial Measurement Units which
combined with the Global Positioning System (GPS) because it maintains the direction and the
position of the drone, hence provide stability to the drone while flying. Basically, the Inertial
Measurement Units sense changes in the direction and position of the drone and transfer the data
to the main processor.

The most crucial sensor in the drone nervous system is the tilt sensor. This sensor
combines multiple sensors such as gyroscopic sensors and accelerometers. This sensor senses the

19
level and altitude of the drone then provide input to the main processor system in order to
maintain the stable hover flight. As a delivery drone, this feature is very important because it
helps in maintaining the stability of the drone which is very crucial in delivery of fragile goods.

In most electronic devices, it is important to monitor the power consumption. In drones,

the current sensors are used to monitor the current and power usage of the drone. it also helps in
optimizing the power drain and ensure safe charging of the internal battery to prevent any
damage in the system. Most of the advanced drones available nowadays are equipped with Light
Detection and Ranging sensor or (LiDAR) sensor which measure the reflection time of a pulse
laser emitted by the sensor to navigate and locate obstacle for collision prevention purpose. This
sensor also helps in mapping and imaging surrounding environment for a safe flight and helps in
providing a more precise location control.

Electronic Components

Since drones are an electronic device, it is impossible that it does not consist of any
electronic components. One of the important in drones that help the drone in maintaining the
balance and stability during flight is the Electronic Speed Control (ESC). Electronic Speed
Control is a component that works independently on each of the drone. the significance of this
components is to control the speed of the electric motor by controlling the amount of the charges
supplied to the motors. By doing so, it allows the drone to be controlled by a person on land.
Other than that, the drone also consists of a power distributor board (PDB). It distributes the
energy supplied by the battery throughout the electronic components in the framework through
the distribution cable.

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Controller

Although the drones are able to fly without human onboard, it still need human to operate
by controlling it from the ground. A drone can be controlled by a controller that works by
sending a radio signal to the receiver in the drone to tell the drone what to do. Usually, the drone
remote controller has a screen monitor to receive the image and video that are being recorded by
the camera attached on the drone to help navigating and piloting process better.

Items Container

Since the delivery drone are to serve a delivery services, the drone needs a compartment
to place the items. The most important thing to keep in mind while designing and manufacturing
the container is that the container cannot be too overweight because if that the case, the
quadcopter needs more thrust to lift it. Hence a material that is light yet strong is needed. The
best material for the container is the thermoplastics such as the carbon fibre-reinforced polymer
because it is not only light weight but also sturdy and strong. The container is mounted on the
landing gear of the drone since it is the best placement for it and it can balance out the centre of
gravity of the drone.

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LITERATURE REVIEW:
Table 1 summarizes research studies found in the related literature on drone package delivery
systems in recent years, including methodologies, proposed solutions, and respective
limitations. Nevertheless, in addition to the modeling challenge of large drone delivery
networks, most research works face the challenge of finding real data on drone characteristics
(such as battery range, flight range, velocity, and payload capacity), real data from logistic
companies, and real data about customer locations and their historical demands. Consequently,
combining real data (in model simulation) from drone manufacturers (such as Matternet) and
logistics delivery businesses specifically using drone deliveries (amazon, Flirtey), can result in
powerful strategic decisions about the deployment feasibility of the drone logistics industry.
Furthermore, most of studies addressed small fleet sizes of drone networks. However, real
drone delivery systems will have a large fleet size in dense urban areas, which makes their
analysis and the prediction of their behavior extremely difficult

Literature Problem Contribution/Proposed Modeling and Assumptions/Limitations

Source Addressed Strategy Analyzing Method
(a) Murray and Hybrid delivery . • Seeks to coordinate a Mixed integer linear . • Small size of the system
Chu (2015) issue (drone + truck with a drone, programming and limited number of
truck) and optimal approach called “Truck formulations to customers.
assignments issue. First, Drone Second”. resolve Traveling • Model did not consider
• Determine the optimal Salesman Problem battery range.
customer assignments for TSP and Parallel
a drone. machine Scheduling
(PMS).
• No real data used,
neither for drone
characteristics nor for
the logistic delivery
operator
(b) Jeon . Vehicle routing A routing model is Mixed integer linear • Drone cannot depart from
(2021) problem with proposed to optimize the programming based or land on a moving truck.

22
 drone and truck. cost, by reducing the on Murray and Chu • Model did not consider
empty flights. model energy and payload.
• Limited customers.
• No real data on drone
characteristics.
(c) Dorling. Multi-trip vehicle • Deals with cost issue Mixed integer linear • Limited size of the delivery
(2016) routing problems. with a delivery time programs (MILPs) to system.
constraint. minimize the costs. • Ignoring the effects of
• Optimize the delivery weather.
time subject to a cost • No real data used
limit.
(d) Wang • Vehicle routing The drone vehicle traffic Heuristic No use of real data and no
(2016) problem with approach to serve all optimization use of autonomous drones
drone. • Multiple customers in the least
trucks with multi- amount of time.
drones.
(e) Ham (2018) Vehicle routing Solve scheduling Constrained • Second task of drone jobs:
problem with problems of multiple optimization method collecting returned packages
multiple drones trucks, drones, and from the customer.
and multiples depots • Necessitates a greater
trucks. extension of the drone’s
flight range.
• No real data used.
(f) Wang and Vehicle routing Large-scale system that • Mixed integer • No real data used to prove
Sheu (2019) problem with includes multi-drones programming the model (randomly
drones and truck. and trucks, as well as approach. generated data).
several customers being • A branch and price • Model does not consider
served. algorithm flight range issue
(g) Bertolaso • Vehicle routing Cooperative landing Petri Nets algorithm • No real data used.
(2016) problem. model by using Petri • Limited number of
• Landing Nets plan. customers
problem of drone
(h) Grippa. Drone/task • Assignment 1: job first Queuing theory, with Limited number of drones
(2018) assignment to random vehicles

23
 (NJR). • Assignment 2: Poisson processes.
job first to nearest
vehicles (FJN)
(i) Park et al. Battery and Battery and charger • Heuristic algorithm. Limited size of system
(2017). charger assignment problem • Mixed integer
assignment linearprogramming.
problem
(j)Sawadsitang • Drone • Algorithm deciding Mixed integer
. (2018) assignment. where to assign batteries programming method
• Supplier and chargers to the and heuristic
cooperation policy service. optimization.
to share the total • Determine the time
cost service instance at which a
battery begins/stops
charging.

Table 1. An overview of some relevant works from the literature on drone delivery systems.

Work carried out:

We made research of quadcopter drone.

Work to be done:

Fabrication of components according to the design.

Assembly of quadcopter drone

24
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