A Review of quadrotor UAV: Control and SLAM methodologies ranging from conventional to innovative approaches

Abstract

There are two indispensable methodologies for autonomous flights performed by unmanned aerial vehicles (UAV). The first is flight control, and the other is simultaneous localization and mapping (SLAM). In the literature, these two issues are generally considered separately. However, they have very close relationships with each other. In this study, both methods were extensively examined in the literature, especially for quadrotors. Quadrotors, also known as quadrotors, are rotary-wing UAVs capable of vertical take-off and landing. As their use becomes widespread worldwide, the number of studies conducted to enable autonomous tasks is growing. The study was prepared under three subtitles. First, a fast and simple introduction of quadrotors was made, and the advances in this area were discussed. In the next section, studies on the position, attitude, and altitude control methods required for the autonomous use of such aircraft are analyzed based on linear, nonlinear, and intelligent methods. As the third subheading, research on SLAM techniques was widely discussed. Frequently used performance metrics, application environments, and results were presented in detailed tables for studies in both areas. Comparative studies were particularly emphasized, and the best results obtained were expressed in tables. The hardware implementations of the mentioned applications were also reviewed. Thus, hardware and method-based quick reference resource were created for researchers. As a consequence, the objective of this research is to provide a comprehensive resource for researchers working on quadrotor navigation systems to effectively select the flight control and SLAM methods they will employ.