Basic principles - Unmanned Aerial Vehicle (UAV, Drone). The Quadcopter

Lecture

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Fundamentals of autonomous control

ICAO classifies unmanned aerial vehicles as either remotely piloted or fully autonomous. [83] Real-world UAVs can possess an intermediate degree of autonomy. For example, a vehicle that is remotely controlled most of the time may have an autonomous return-to-base operation.

Basic autonomy is provided by proprioceptive sensors. Extended autonomy requires situational awareness, knowledge of the environment surrounding the aircraft, obtained from external sensors: sensor fusion combines information from multiple sensors. [63]

Basic principles

One way to achieve autonomous control uses multiple levels of control loop, as in hierarchical control systems. As of 2016, the lower-level loops (for example, for flight control) run at a rate of 32,000 times per second, while higher-level loops may repeat once per second. The principle is to decompose the aircraft's behavior into manageable "chunks" or states with known transitions. Types of hierarchical control systems range from simple scripts to finite-state machines, behavior trees, and hierarchical task planners. The most common control mechanism used at these levels is the PID controller, which can be used to guide a quadcopter by using data from the IMU to precisely compute inputs for the electronic speed controllers and motors.

Examples of mid-level algorithms:

Path planning: determining the optimal path the vehicle should follow while satisfying mission tasks and constraints, such as obstacles or fuel requirements.
Trajectory generation (motion planning): determining the control maneuvers that need to be taken to follow a given path or move from one location to another [84] [85]
Trajectory regulation: constraining the vehicle within some tolerance of the trajectory

Developers of hierarchical UAV task planning use methods such as state-tree search or genetic algorithms. [86]

Autonomy features

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Basic principles - Unmanned Aerial Vehicle (UAV, Drone). The Quadcopter

Basic principles

Autonomy features

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