Motion Planning and Controlof Unmanned Aerial Vehicles

Abstract: The core of this project focuses on how to makeaerial vehicles fly autonomously from an initial position to agoal. This is done by making a mathematical model for the UAV,a brief study of the sensors needed to estimate the UAVs state,then designing an LQR controller for the trajectory trackingand finally using an artificial potential field function for thenavigation. The mathematical model is done by studying thekinematics and dynamics for a single UAV, it is then linearisedand the system’s observability and controllability are checked todevelop the LQR. We conduct computer simulations to test thetheoretical findings and evaluate the proposed methods. Finally,we conclude the paper with a discussion and results, and providedirections and ideas to do further research on the topic.