The essence and connotation of UAVs are thoroughly analyzed. The core characteristics and fundamental nature of UAV autonomy and intelligent control, along with their interrelationships, are systematically explained. A design concept and engineering implementation framework for UAV autonomous control are proposed, with a rational planning of the level of autonomy. Engineering methods and schemes for autonomous intelligent control of drones are introduced, and an architectural framework for autonomous intelligent control systems is established.
From ancient legends or fables, we learn that since the dawn of humanity, people have dreamed of flying like birds. Through generations of imagination, effort, and innovation, humans have sought ways to achieve free flight in the sky. Various attempts were made, such as kites, early rockets, speed vehicles, hot air balloons, and gliders, but none achieved true freedom of flight.
In 1903, the Wright brothers successfully completed the first manned flight with their "flight machine-aircraft," fulfilling the dream of human flight. As dreams of flying took shape, people also began to imagine controlling aircraft from the ground without being on board, which led to the concept of drones. In 1916, American Sperry and Lawrence conducted the first drone flight, marking the beginning of research into unmanned aerial vehicles. After World Wars and especially during the Cold War, drones advanced significantly. Over a century of development has created a vast family of UAVs with multiple classifications based on fuselage structure, size, altitude, range, usage, and more. For instance, by structure, they can be categorized into unmanned helicopters, fixed-wing aircraft, multi-rotor drones, airships, parachute drones, and flapping-wing drones. By size and weight, they can be large, medium, small, or micro UAVs. By purpose, they include military, civil, and consumer drones. They can also be classified as high-altitude, long-range, remote-controlled, or high-altitude long-range drones.
As technology evolves, the definition and meaning of drones must also be continuously refined. From the early era of manually controlled flights to today's autonomous flight phase, the understanding of UAVs should evolve alongside technological progress. Otherwise, it could hinder the development of drone technology. This paper explores the evolution of UAVs, summarizes their connotations and definitions, elaborates on UAV control, and discusses the relationship between autonomy and intelligence. It proposes the design concepts and engineering elements of autonomous intelligent control, along with methods and strategies for achieving autonomous intelligent control in drones.
On September 12, 1916, the US "Sperry" and Lawrence's "Hewitt-Sperry Automatic Airplane" completed the first human-powered unmanned flight, opening a new chapter in drone research. Initially, drones were defined as aircraft without pilots on board, known as "pilotless aircraft." With the development of radio remote control technology, the term "Remotely Piloted Aerial Vehicle (RPAV)" and "Remotely Piloted Aircraft System (RPAS)" emerged. Later, "Unmanned Aerial Vehicle (UAV)" became the standard term. According to the U.S. Department of Defense and FAA’s UAV Roadmap 2005–2030, a UAV is defined as an aircraft that does not carry operators, uses aerodynamics for lift, can be autonomous or remotely piloted, and can be reused with either lethal or non-lethal payloads.
Ballistic or semi-ballistic aircraft, cruise missiles, and artillery shells are not considered UAVs because they cannot be recovered. There is still debate about whether remote-controlled model aircraft qualify as drones, as modern models use advanced control systems and may be used beyond visual line of sight. However, if used solely for entertainment within visual range, they are typically not classified as drones. Today, the term "UAV" is widely used, while in civil society, "drone" is often used colloquially due to its association with the sound of old military engines.
The terms "unmanned aerial vehicle" and "uninhabited aerial vehicle" differ in meaning. "Unmanned" implies both no one on board and no human control, while "uninhabited" only refers to the absence of a pilot. Therefore, "unmanned aerial vehicle" better captures the true essence of a drone, where the aircraft can operate autonomously without human intervention. This distinction affects system architecture, control functions, and implementation methods.
Over the past century, UAVs have evolved through several stages: remotely piloted, remote control with local automation, fully automatic, fully automatic with local autonomy, and fully autonomous. Currently, the highest level is fully automatic plus local autonomy. Drones are selected based on mission requirements, cost, and manpower, coexisting and complementing each other to maximize their advantages.
While drones are operated by humans, the concept of "human-machine authority" remains critical. Humans are the masters of drones, setting rules and strategies. Drones must obey these commands, but due to limitations in human control, drones need autonomy. This leads to three working modes: autonomous mode, manual intervention, and manual maneuvering. These modes allow flexibility depending on the environment and task requirements.
Autonomy and intelligence are distinct yet interconnected. Autonomy refers to self-directed behavior, while intelligence involves the ability to make decisions based on knowledge and natural laws. Intelligence depends on autonomy, and higher autonomy enables greater intelligence. The development of intelligent systems requires careful integration of information acquisition, processing, and decision-making capabilities, ensuring reliability and adaptability in dynamic environments.
Designing UAVs requires balancing autonomy and intelligence. While drones are empowered by humans, their independence must be carefully managed to avoid unintended consequences. Autonomous systems must be capable of sensing, processing, and acting independently, while still adhering to human oversight. This ensures safety, efficiency, and reliability in complex operations.
To achieve autonomous intelligent control, UAVs must integrate multiple layers of functionality: independent information acquisition, autonomous decision-making, and reliable execution. Each layer plays a crucial role in enabling the drone to function effectively in various scenarios. Additionally, the system must include mechanisms for fault detection, recovery, and adaptation to ensure robust performance.
In conclusion, the future of UAVs lies in advancing autonomous and intelligent systems. While significant progress has been made, further research is needed to improve specific methods, decision-making strategies, and algorithmic implementations. Continued innovation will enable UAVs to become more reliable, efficient, and adaptable, expanding their applications across industries and enhancing their value in modern society.
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