A

Synopsis

on

CONTROLS AND COMMUNICATIONS OF

AUTONOMOUS DRONE
in partial fulfillment of the requirements for the degree

of

Bachelor of Technology
in
COMPUTER SCIENCE AND ENGINEERING
Submitted by
ROHIT SHARMA ( 2208410100049 )

Under the supervision of

Dr. ANURAG SEVAK

(CSED)
Dr. MANEJAR YADAV
(CSED)

RAJKIYA ENGINEERING COLLEGE, SONBHADRA

 Index

Sr. No. Topics Page No.

1 Abstract 3
2 Objective of the Project 4
3 Functional Requirements 5
4 Resources/Tools to be used 7
5 Project Scope and Application 10
6 Conclusion 13
7 References 14

Supervisor Sign:
 ABSTRACT

The control framework includes PID controllers to ensure stable flight, while
SLAM (Simultaneous Localization and Mapping) is used for navigation in
GPS-denied environments.
Real-time obstacle avoidance is achieved through sensor fusion, using data from
multiple sensors to dynamically adjust flight paths. All these sensors relay these
data from sensors to ground systems (laptops/database).
The communication system facilitates real-time data transfer to ground stations,
enabling operators to receive high-resolution mapping data and telemetry. This
project aims to create a reliable, fully autonomous drone solution for mapping
and surveying applications, with applications in industries like agriculture,
construction, and environmental monitoring.
 OBJECTIVE OF THE PROJECT

The objective of this project is to design and implement an advanced control and
communication system for autonomous drones that enables efficient and reliable
navigation for various applications, such as delivery services and
mapping/surveying. Specifically, the project aims to:

1. Develop a robust control system using GPS, sensors (e.g., LiDAR,

cameras), and PID controllers to ensure stable, precise flight and real-time
obstacle detection and avoidance.
2. Implement an autonomous navigation framework that allows drones to
plan and follow optimal flight paths while dynamically adjusting to
environmental changes (e.g., obstacles, weather conditions).
3. Integrate real-time communication systems to enable seamless data
transfer between the drone and ground stations or control centers, including
live telemetry, status updates, and video feeds.
4. Optimize the drone’s adaptability and reliability for specific tasks such
as last-mile delivery and large-area mapping, ensuring accurate positioning
and efficient operation in complex, real-world environments.
5. Ensure safety and regulatory compliance by incorporating fail-safe
mechanisms and geofencing technologies to prevent collisions or
unauthorized entry into restricted airspaces.

This project will enhance the autonomy, efficiency, and scalability of drones,
making them more practical for real-world applications in logistics,
infrastructure, and environmental management.
 FUNCTIONAL REQUIREMENTS

1. Autonomous Flight Control

● The drone must autonomously take off, follow a designated flight
path, and land at specified locations without manual intervention.
● It must maintain stable flight using PID controllers or other control
algorithms, adjusting for wind, load shifts, or turbulence.
● The system should support both waypoint-based and real-time
dynamic navigation.

2. Navigation and Path Planning

● The drone must use GPS or alternative localization methods (e.g.,
SLAM in GPS-denied environments) to navigate accurately to
predefined waypoints.
● It must calculate and follow the most efficient flight path, optimizing
for distance, energy consumption, and delivery time.
● The system should support dynamic re-routing in response to
environmental changes (e.g., weather, air traffic).

3. Real-Time Communication
● The drone must transmit live telemetry data (e.g., altitude, speed,
battery level, position) to the ground station or control center.
● The communication system must enable the real-time streaming of
video and sensor data for remote monitoring.
● It should maintain stable communication links, using protocols like
4G/5G, Wi-Fi, or radio frequencies, with failover systems in case of
signal loss.

4. Failsafe Mechanisms
 ● The drone must have an emergency return-to-home (RTH) function,
where it autonomously returns to a safe location if it encounters an
issue (e.g., low battery, loss of signal).
● The system should implement geofencing to prevent the drone from
entering restricted or hazardous areas.
● In case of critical failure, the drone must perform a controlled
emergency landing.

By meeting these functional requirements, the autonomous drone navigation

system will be able to perform critical tasks in delivery, mapping, and various
other industries, ensuring safety, efficiency, and adaptability.
 RESOURCES/TOOLS TO BE USED
There will be hardware, software, and development tools that focus specifically
on stabilizing the drone during flight and ensuring reliable data transmission
between the drone and ground stations.

1. Control System Resources

a) Flight Controller

● Pixhawk: A widely used open-source flight controller that supports

advanced control algorithms, sensor integration, and autonomous flight
capabilities.
● ArduPilot or PX4 Autopilot Software: Open-source firmware that runs on
the flight controller, providing the logic for controlling drone movement,
stabilization, and autonomous mission execution.
● PID Controllers: Implement proportional-integral-derivative (PID)
algorithms to maintain stable flight, especially when environmental factors
(e.g., wind, load shifts) affect drone behavior.

b) Onboard Processing Unit

● Raspberry Pi: Small computers that can run control algorithms and sensor
fusion, enabling real-time decision-making and data processing for
autonomous control tasks.

2. Communication System Resources

a) Communication Modules

● Radio Frequency (RF) Transceiver: A module that enables long-range

communication between the drone and the ground control station. Common
frequencies include 2.4 GHz or 5.8 GHz for telemetry and control data.
 ● Wi-Fi/4G/5G Module: For high-bandwidth communication, allowing
real-time video transmission, sensor data streaming, and internet-based
control.
● LoRa Module: For low-power, long-range communication, often used in
rural or remote areas where traditional RF signals may be weak.

b) Communication Protocols

● MAVLink Protocol: A lightweight communication protocol used for

transmitting telemetry and control messages between the drone and the
ground station.
● RTPS (Real-Time Publish-Subscribe): A real-time communication
protocol for sending data from sensors (e.g., cameras, LiDAR) to onboard
processors or ground stations.

c) Ground Control Station (GCS)

● Mission Planner: A ground control software that enables communication

with the drone for live monitoring, mission planning, and telemetry
analysis.

3. Software Tools for Control and Communication Systems

a) Flight Control and Communication Software

● ArduPilot or PX4 Autopilot: These open-source flight control software

platforms provide the core logic for stabilizing flight, controlling
movements, and processing sensor data.
● ROS (Robot Operating System): For integrating control systems,
especially in autonomous and real-time decision-making scenarios. It helps
manage sensor data and communication between onboard systems and
external devices.

c) Sensor Fusion Algorithms

● EKF (Extended Kalman Filter): To fuse data from IMU, GPS, and other
sensors to provide a reliable estimate of the drone’s position, orientation,
and velocity in real time.
 ● SLAM (Simultaneous Localization and Mapping): In cases where GPS
is unreliable, SLAM algorithms can use onboard cameras and sensors to
localize the drone in space and map its surroundings.

d) Simulation Tools

● Gazebo: A simulation platform integrated with ROS and PX4 that allows
you to test control systems and communication protocols in virtual
environments before deploying on real hardware.
● AirSim: A drone simulator that lets you test control algorithms,
communication systems, and obstacle avoidance in realistic 3D
environments.
 SCOPE AND APPLICATIONS
Project Scope:

The scope of this project focuses on designing and implementing a robust control
and communication system for autonomous drone navigation. This includes the
following key components:

Autonomous Control System:

● Development of algorithms that manage the drone’s flight behavior,

including takeoff, flight path navigation, obstacle avoidance, and landing,
using onboard sensors and GPS data.
● Integration of control mechanisms such as PID controllers or adaptive
control systems to ensure stable and precise movement during flights.
● Implementation of autonomous decision-making for real-time flight
adjustments based on environmental conditions (e.g., wind, obstacles).

Real-Time Communication System:

● Design and development of a reliable communication framework between

the drone and ground control stations, allowing for the transmission of
telemetry, video streams, and mission commands.
● Integration of different communication protocols (e.g., Wi-Fi, RF, 4G/5G,
or satellite) to enable real-time data transmission across varying distances.
● Implementing fail-safe mechanisms such as return-to-home (RTH)
functions and geofencing to ensure safety in case of communication loss or
emergencies.

Safety and Reliability Features:

● Development of fault-tolerant systems that allow the drone to maintain

functionality or return to a safe state in case of sensor failures,
communication breakdowns, or system malfunctions.
● Incorporation of compliance features like geofencing and adherence to
regulatory airspace restrictions.
Applications of the Project:

Aerial Mapping and Surveying:

● Terrain Mapping: The control system ensures stable flight while the drone
collects mapping data from onboard cameras or LiDAR systems, while
real-time communication allows operators to monitor the data being
collected.
● Construction and Agriculture: Drones can autonomously navigate over
construction sites or farms to collect data for planning or monitoring crop
health, using communication systems to relay data in real-time to remote
servers.

Disaster Response and Search-and-Rescue:

● Real-Time Aerial Assessment: Drones equipped with autonomous control

and communication systems can be deployed in disaster areas for real-time
video and data collection without needing human intervention in hazardous
conditions.
● Search and Rescue: In remote or hard-to-reach areas, drones can navigate
autonomously to search for missing persons and transmit live video feeds
or thermal imaging back to ground teams.

Infrastructure Inspection:

● Inspection of Bridges, Power Lines, and Buildings: Autonomous drones

can be used for regular inspections of infrastructure, transmitting live
footage of hard-to-access areas back to inspection teams.
● Pipeline and Railway Monitoring: Drones equipped with sensors and
real-time communication systems can autonomously inspect long stretches
of pipelines or railways and send alerts if any issues are detected.

Environmental Monitoring:

● Wildlife Tracking: Autonomous drones can be deployed to monitor

wildlife in remote areas or track migratory patterns, using real-time
communication to relay location and observation data.
 ● Forest Fire Detection: Drones can autonomously monitor forests for signs
of fire or other environmental hazards, alerting authorities in real-time if
issues are detected.

Military and Security Operations:

● Surveillance and Reconnaissance: Autonomous drones with advanced

control systems can be deployed for border security or military
surveillance, transmitting real-time video and telemetry data to command
centers.
● Security Patrols: Drones can autonomously patrol perimeters or large
facilities and relay real-time video feeds for security purposes.
 CONCLUSIONS

The Autonomous Drone Navigation System focused on control and

communication successfully addresses critical challenges in drone autonomy by
providing a robust and scalable framework for various real-world applications.
The project integrates advanced control algorithms with real-time communication
systems to ensure reliable, precise, and safe drone operations in diverse
environments.

Through the development of the control system, the drone is able to

autonomously navigate, avoid obstacles, and make real-time adjustments during
flight. The integration of various sensors like GPS, IMU, and LiDAR allows for
accurate localization, stability, and obstacle detection. Additionally, the real-time
communication system ensures seamless data transmission between the drone
and ground control, enabling efficient monitoring, command execution, and
feedback. This includes using different communication protocols (Wi-Fi, RF,
4G/5G) to maintain connectivity over varying distances and environments.

The system’s ability to function reliably in complex scenarios—such as

search-and-rescue missions, infrastructure inspection, and package
delivery—demonstrates its versatility and effectiveness. Moreover, the built-in
safety features like fault tolerance, return-to-home functionality, and geofencing
enhance the drone's reliability in case of unexpected failures or communication
loss.

In conclusion, this project represents a significant step forward in drone

autonomy, contributing to industries such as logistics, agriculture, environmental
monitoring, security, and disaster response. With further advancements, such as
enhanced AI for decision-making and improvements in communication
infrastructure (e.g., 5G networks), the system can be extended to even more
challenging and large-scale operations, making autonomous drones an essential
tool in modern industries.
 REFERENCES
Siciliano, B., & Khatib, O. (Eds.). (2016). Springer Handbook of Robotics.
Springer.

● Provides comprehensive insights into control systems and sensor

integration for autonomous systems, including drones.

Anderson, J. A., & Perez-Carabaza, L. (2019). Autonomous Navigation and

Obstacle Avoidance in Drones Using Machine Learning. IEEE Access.

● Discusses machine learning techniques and sensor-based control for drone

navigation and obstacle avoidance, with a focus on real-time systems.

Shah, S., Dey, D., Lovett, C., & Kapoor, A. (2017). AirSim: High-Fidelity
Visual and Physical Simulation for Autonomous Vehicles. Microsoft Research.

● Describes the use of simulators like AirSim for developing autonomous

navigation algorithms, which was crucial for testing control systems.

ArduPilot Documentation (2023). ArduPilot Autopilot Software. Available

online: https://ardupilot.org

● Details on open-source flight control software, including navigation

systems, communication protocols, and safety features like return-to-home..

Erdelj, M., Król, M., & Natalizio, E. (2017). Wireless Sensor Networks and
Multi-UAV Communication for Wide Area Monitoring. Ad Hoc Networks, 57,
131-144.

● A study on multi-UAV communication systems and their use in real-time

monitoring and control, relevant for understanding communication
protocols.

Zhou, B., Yan, X., & Zhang, Y. (2020). Design and Implementation of a
Real-Time Communication System for Autonomous Drone Control. Sensors,
20(10), 2753.

● Discusses the implementation of communication systems in autonomous

drones, with a focus on real-time data transmission and reliability.