IOSR Journal of Electronics and Communication Engineering (IOSR-JECE) e-ISSN: 2278-2834,p- ISSN: 2278-8735.Volume 11, Issue 4, Ver. IV (Jul.-Aug .2016), PP 81-90 www.iosrjournals.org DOI: 10.9790/2834-1104048190 www.iosrjournals.org 81 | Page Low-Cost Bluetooth-Arduino Hover Control Design of a Quad Copter Supantha Mandal 1 , Suraj Kumar Saw 2 , Karan Shaw 3 , Arunava Kabiraj Thakur 4 , Varsha Seth 5 , Puja Singh 6 Department of Electronics & Communication Engg., Department of Computer Science Engg. National Institute of technology Arunachal Pradesh India 2 St. Mary’s Technical Campus Kolkata, India 1,3,4,5,6 Abstract: This paper presents bluetooth controlled arduino integrated with collision detection, avoidance and contol features which provides the unique ability of flight stablization, hover contol and landing features in any terrain.The extremely sophistcated design provides very good hover contol of the design.The design integrated with ultrasonic sensors with in built accelerometer controls the speed and avoid collision with any obstacle detected in the flight of the quadcopter.The parts used in the design are of low cost making the design economical which makes it ideal for production on industrial scale which will aid in many applications like collecting data, spying and in miltary operations.In this research article a entire system is designed and inplemented in which flight,hovering is stably controlled based on feedback from ultrasonic sensors and visual feedback.A low cost robust design has been implemented with advanced features which makes it very unique and attractive for commercial production. Keywords: Unmanned aerial vehicle (UAV); personnel digital assistant (PDA); Degree of Freedom (DOF); Revolutions per minute (RPM); Graphical user Interface (GUI). I. Introduction A unmanned aerial vehicle also known as quad copter is governed by flight dynamics in which various forces of nature and mechanical forces for hovering is taken into consideration to ensure smooth propelling and hovering of the vehicle when it is airborne. Its working principle is based on variation of spin RPM of the 4 servomotors to stabilize and control lift and torque. The thrust from the four servomotors attached diagonally at the design provides a major role in maneuvering and to ensure the quad copter airborne. Precise angle handling is essential to perform the flying routines and to maintain complex trajectory governed by laws of physics. Our design serves as a solution to demonstrate how the spin of the servomotors to achieve high degree of angular orientation giving the design precise control from the user side to achieve standard flight operations like hovering at a particular altitude, take off from ground .to avoid any obstacle to prevent collision and ensure smooth landing[1] . Quad copters are like conventional small helicopters but simpler in mechanical design and achieve high degree of flight stabilizing and maneuverability. The driving forces like torque, roll, pitch and yaw which are controlled by 4 pitch propellers in the form of servomotors connected at the quad copter ensure flight stability. Modern day quad copters are integrated with sensors which has increased their popularity tremendously in field of surveillance, data collection from aerial platform and in military applications reaching a benchmark of excellence in modern day of electronics and communication engineering fused with the advanced aspects of aerodynamics. The earlier design of quad copters was unstable due to non linear dynamics. The modern design are provided with 6 degree of freedom which give the user precise control of the unmanned aerial vehicle from a wireless module by radiofrequency control or any sort of wireless medium .In existing literature many works have been done on the analysis and implementation of the quad copter for various aspects like photography and disaster management and military application[2].In our paper we have designed a arduino integrated with flight connector board with inbuilt accelerometer to control the speed of the 4 brushless motors and to stabilize the flight by remote controlling from a mobile device having Bluetooth as the controlling medium .Our user end equipment is equipped with graphical user interface developed with java language to control the quad copter flight and landing. Our design includes arduino uno has the which is the central unit of the design integrated with flight connector board which issues command for controlling the speed of the motors which are having mechanical shock absorbers to prevent any damage to quad copter while landing. The collision and detection protocol has been incorporated and well executed by using ultrasonic sensors which prevents collision and sends the signal to the user mobile of obstacle detection. The quad copter flight direction is easily controlled with the alignment of the mobile or PDA in which the controlling software is used. It behaves like a joystick thus controlling the direction flight in any direction when the mobile is tilted or aligned in a particular direction. The most attractive feature is the voice recognition command platform in the mobile which take takes