Layered learning in a quadrotor drone: Simultaneous controlling and path planning using optimal fuzzy fractional order proportional integral derivative and proximal policy optimization

• Published in: Engineering applications of artificial intelligence 2024-10, Vol.136, p.108926, Article 108926
• Main Authors: Shahbazi, Hamed, Tikani, Vahid, Fatahi, Roholamin
• Format: Article
• Language: English
• Subjects: Control; Deep reinforcement learning; Fuzzy system; Heuristic algorithms; Quadrotor dynamics
• ISSN: 0952-1976
• DOI: 10.1016/j.engappai.2024.108926

Unmanned aerial vehicles (UAVs), particularly quadrotors, have seen a surge in applications ranging from surveillance to delivery services. However, autonomous control remains a challenge due to the complexity of their dynamics and the need for real-time responsiveness. This paper addresses the significant problem of autonomous quadrotor control by introducing a novel learning method that integrates a deep neural network with advanced control techniques. Novelty of the work is distribution of different learning tasks in different layers of learning and combining the total learning system in a applicable UAV. The purpose is to enhance the quadrotor’s ability to perform complex maneuvers autonomously, which is crucial for expanding its application scope. The proposed method begins with the acquisition of direction control using a fractional order proportional–integral–derivative (FOPID) controller. The learning parameters are refined through a fuzzy method, ensuring adaptability and precision. For the optimization of the FOPID parameters, we apply two stochastic algorithms: Genetic Algorithm and Particle Swarm Optimization, comparing their efficacy. Our approach successfully teaches the quadrotor to generate and control a flight path autonomously. The second stage of learning involves proximal policy optimization, enabling the execution of intricate maneuvers. The experimental setup includes a quadrotor on a test stand with three degrees of freedom, where we validate the method through rigorous simulation and physical tests. The results demonstrate that our method not only teaches the quadrotor complex maneuvers but also ensures robust and precise execution, marking a significant advancement in UAV control systems. The implications of this research extend to improving UAV reliability for critical applications, potentially transforming the landscape of autonomous aerial operations.