Development of a Flight Control Algorithm for the Autonomously Flying Robot MARVIN

MARVIN is an autonomously flying robot based on a model helicopter. It has been designed for participation in the International Aerial Robotics Competition (IARC) Millennial Event 1998 – 2000. The competition task consists of a search operation in an unknown environment with possible threats such as fires, water fountains, and smoke. For autonomous flight, a flight control algorithm runs on the on-board computer that stabilizes the helicopter and enables it to reach a way-point issued by the ground station. The flight control algorithm consists of a hierarchy of modified PID controllers. By MARVIN’s performance, it has been proven that no more sophisticated approach to control is required for helicopter flight control.