Autonomous Glider Prototype

During this project, we, in a team of 3, have designed and built a small autonomous glider.

The objective was to conceive a prototype integrating both aerodynamic design and basic embedded automation (mainly Arduino-based stabilization).

Let’s get started!

1. 3 Servo motors (ailerons and rudder control)
2. Arduino Nano 33
3. MPU6050 gyroscope (for stabilization)
4. External power supply (LiPo battery)
5. Jumper cables, Dupont connectors
6. Hot glue gun, cyanoacrylate glue, epoxy
7. Access to laser cutter (for wing ribs)
8. Access to 3D printer (Creality K2 Plus)

The project was inspired by:

1. Traditional free-flight gliders, such as this video of a 3D printed glider
2. Open-source Arduino stabilization projects like the one presented on ElectronicsForYou
3. Our previous experiences in creating gliders or planes (Workshop week, projects, etc)

We aimed to combine these inspirations into a simple yet functional glider prototype that could demonstrate stabilization and obstacle response in flight.

Initially, we planned to design a very lightweight version of the glider using simple construction techniques: essentially, building the wings as carbon rods wrapped in paper, with minimal structural elements to save weight.

However, for the sake of simplicity and to focus on the electronics and automation parts, we eventually opted to reuse an existing open-source CAD model found online.

This allowed us to directly 3D print or laser cut some parts without spending too much time on mechanical design, and dedicate more time to assembling, tuning and coding.

Main design characteristics:

1. PLA fuselage
2. Fixed wings (printed and/or cut)
3. spars for basic structural support
4. Lightweight assembly to ensure good gliding performance

The electronic system includes:

1. Arduino Nano as central controller
2. MPU6050 for pitch and roll stabilization (PID control loop)
3. 3 servo motors: 2 for ailerons, 1 for rudder

All components were fixed into the fuselage, and the Arduino Nano 33 was placed in a hole intended for this purpose, next to a small, laser-cut rectangle to fill the space perfectly.

You will find pictures of the electronic assembly attached.

The Arduino code handles:

1. Continuous gyroscope reading for real-time stabilization
2. PID algorithm for controlling servo positions

The code was fully commented and modular to ease debugging and improvement.

1. Wing and tail assemblies glued to fuselage using cyanoacrylate and epoxy.
2. Servos installed inside 3D printed mounts.
3. Electronics fixed on the fuselage, with wiring organized for accessibility.
4. Control surfaces connected via carbon rods and linkages.

We did not have the time to, but would have wanted to conduct multiple indoor and outdoor tests to:

1. Tune stabilization parameters (PID gains)
2. Check control surface response times
3. Validate obstacle detection efficiency

Instead, we launched the prototype once all the electric components had been fixed, making it heavier, which resulted in our glider falling quicker than expected.

What worked:

1. Stable gliding behavior (with the adjusted weight)
2. Basic stabilization effective for small disturbances

What could be improved:

1. More powerful processing (e.g. STM32) for better real-time performance
2. Finer PID tuning (especially yaw control), optimization of parameters
3. Lighter and more efficient power supply
4. Full remote-control override for manual testing
5. Flight tests in larger outdoor spaces for full capabilities

Lessons learned:

1. Weight management is critical for glider performance
2. Wiring must be carefully planned to avoid adding unnecessary mass
3. PID tuning requires iterative adjustments and patience

This project allowed us to combine mechanical design, rapid prototyping, electronics, and programming into a functional flying prototype.