Autonomous multirotor UAV systems:perception,planning and control
GUO Jing-jing
LIU Yun-gang
MAN Yong-chao
CHEN Lin
Abstract：Unmanned aerial vehicles(UAVs)have been ubiquitous in military and civilian fields owing to their low cost,high maneuverability and wide visibility.As an inevitable development trend,UAVs should increasingly enhance percep-tion and decision-making abilities,and in turn improve their autonomy.This paper presents a comprehensive overview of autonomous control for multirotor UAVs centring on key scientific and technical issues,namely,sensitive and robust flight control,real-time accurate perception and estimation,and efficient online motion planning.The attempt is to construct an overall cognitive architecture of autonomous control systems for multirotor UAVs,from hardware and software systems to specific algorithms of flight control,perception and estimation,and motion planning.The aim is to provide system-atic insights for related theoretical research and technical reference for autonomous control system design of multirotor UAVs.Finally,the current limitations of autonomous control techniques of multirotor UAVs are summarized,and future development trend is prospected.
Keywords：unmanned aerial vehiclesautonomous controlperception and estimationflight controlmotion planning
Publication Date：2024-10-28
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：19( 1707-1725 )