A First Intelligent Approach to Path Following Algorithm for Quadcopters

In this paper, an algorithm to follow a given trajectory with a quadcopter is presented. This algorithm depends on a group of parameters whose selection strongly influences its performance. At the same time, those parameters depend on the velocity of the aerial vehicle and the curvature of the reference path. The main contribution of this paper is to show how the original algorithm can be enhanced if these parameters are chosen using a fuzzy-logic decision system based on a dimensionless variable, rather than taking them as constants. Simulation results are encouraging.