Waypoint navigation of AR. Drone quadrotor using fuzzy logic controller

Abstract

In this paper, an AR. Drone is flown autonomously from the initial position (x, y,z) to the desired position called waypoint using Fuzzy Logic Controller (FLC). The FLC consists of three control loops which are pitch control loop, roll control loop and vertical rate control loop. For each control loop, desired position and real position are used as inputs of the FLC, while pitch, roll and vertical rate are used as output respectively. The algorithm is realised in three flight schemes and the navigation data is recorded. The first flight scheme: a desired x-position of AR. Drone will be reached first followed by a desired y-position, and lastly a desired z-position. The second flight scheme: a desired x-position and y-position will be reached simultaneously followed by a desired z-position. The third flight scheme: AR. Drone flies towards to desired position simultaneously. The results show that the AR. Drone can reach the waypoint with the three schemes well. However, the flight scheme straight towards the waypoint with the FLC working simultaneously is the most satisfying one.