Analysis of PID Control Method for Autonomous Drone Navigation

The technological development made since the past decade has made autonomous robotic systems very powerful and intelligent. These machines are now more widely assisting humans, and their applications are limited to one’s imagination. In this paper, we contribute to this field by analyzing a method that helps in autonomous navigation for mobile robots in an indoor static environment. With the help of WhyCon markers and an overhead camera—for localization, and PID controllers—for error correction, we implement popular path planning algorithms—PRM, RRT, RRT*, RRT-Connect, and KPIECE, in a simulation. We used a dynamic/static 3D map and tested our solution architecture against the given starting/endpoints. The experimental results are then examined and discussed in accordance with the time taken for flight completion with respect to the different number of path divisions and PID error values.