2.

Flight Modes of a Fixed-Wing Drone and Conditions for Use

1. Introduction

Fixed-wing drones differ significantly from rotary drones in that they rely on the aerodynamic lift generated
by wings to stay airborne, requiring forward motion. They are widely used in agriculture, surveying,
defense, and environmental monitoring due to their endurance and efficiency in covering large areas.
Fixed-wing drones support various flight modes to address specific operational goals and environmental
challenges.

2. Overview of Common Flight Modes

2.1 Manual Mode In this mode, the pilot directly controls the aircraft using a transmitter. The system
provides no stabilization or altitude control. It is generally used during testing, pilot training, or emergency
recovery operations. The mode requires high skill and is rarely used for routine missions.

2.2 Stabilize Mode Stabilize mode offers automatic self-leveling using gyroscopic sensors. While throttle
and altitude are still under manual control, the aircraft automatically corrects roll and pitch. This is useful
for novice operators and for situations where semi-automated control is beneficial, such as windy
conditions.

2.3 Altitude Hold Mode In this mode, the drone maintains a fixed altitude using barometric pressure
sensors. The pilot still controls heading and speed manually. It is ideal for applications like aerial
photography, where a steady altitude ensures uniform data capture.

2.4 Loiter Mode Loiter mode uses GPS to make the aircraft circle or hover over a fixed point. It is ideal for
surveillance, pausing a mission, or maintaining position while waiting for further commands. The aircraft
adjusts speed and heading automatically to compensate for wind drift.

2.5 Auto Mode Auto mode is fully autonomous and follows a pre-defined mission plan with waypoints and
actions. It is the core mode for long-range missions such as topographic surveys, pipeline inspections, or
search-and-rescue operations. The drone uses GPS and onboard sensors to navigate without manual input.

2.6 Return to Launch (RTL) In RTL mode, the drone autonomously returns to its takeoff point. This is
triggered manually by the user or automatically in response to low battery, signal loss, or system failure. It
ensures safety and recovery in unexpected situations.

3. Flight Mode Selection Based on Conditions

Each flight mode is selected based on mission type, environment, and operator experience: - Training
flights: Manual or Stabilize mode. - Surveillance and photography: Altitude Hold or Loiter mode. -
Autonomous missions: Auto mode. - Failsafe conditions: RTL mode.

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Advanced drones often switch modes dynamically based on onboard logic or user input.

4. Conclusion

The availability of multiple flight modes allows fixed-wing drones to adapt to diverse operational needs and
environmental conditions. Understanding each mode and its appropriate use is essential for safe and
efficient drone operation. These modes enhance both manual control and autonomous functionality,
enabling fixed-wing drones to perform complex tasks with minimal human intervention.

3. PID Controller and Its Application in Controlling Wheeled Robots

1. Introduction

A Proportional-Integral-Derivative (PID) controller is one of the most commonly used feedback control
mechanisms in robotics and automation. It adjusts the system input based on the error between a desired
setpoint and the measured output. In mobile robotics, especially wheeled robots, PID controllers are
employed to maintain accurate speed and direction.

2. Concept of PID Control

A PID controller calculates the error e(t) = extsetpoint − extmeasuredvalue and uses it to compute
the control input:

de(t)
u(t) = Kp e(t) + Ki ∫ e(t)dt + Kd
dt
Where: - Kp: Proportional gain – reduces present error - Ki: Integral gain – corrects accumulated past error -
Kd: Derivative gain – predicts future error trend

These components balance the system’s response to minimize overshoot, eliminate steady-state error, and
ensure fast settling time.

3. PID in Wheeled Robot Speed and Direction Control

3.1 Speed Control Motors in a robot can exhibit variations in speed due to load, battery level, or friction. A
PID controller adjusts the motor power to maintain a constant desired speed. Encoders measure actual
wheel speed and the controller corrects any deviations.

3.2 Direction Control (Path Tracking) When following a path, the robot must correct its orientation in real
time. The PID controller adjusts the differential wheel speeds to minimize the heading error. For example,
when veering off a line, the controller slows one wheel and speeds up the other to steer back.

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3.3 Application Example In line-following robots, the error can be defined as the deviation from the center
of the line. The PID controller uses this error to adjust steering dynamically, enabling smooth navigation
even on curves.

4. Tuning and Implementation

Proper tuning of the Kp , Ki , and Kd gains is essential. Common techniques include: - Manual tuning -
Ziegler-Nichols method - Software-based auto-tuning

PID controllers can be implemented in embedded systems using microcontrollers or integrated into robot
operating systems like ROS. Libraries such as Arduino PID and Python-based control systems simplify
deployment.

5. Conclusion

PID controllers offer a robust and flexible solution for controlling the speed and direction of wheeled
robots. By continuously correcting errors, they ensure smooth, accurate, and stable robot motion. Their
effectiveness and ease of implementation make them an essential component in autonomous robotic
navigation.

4. Maneuverability Challenges in Autonomous Vehicles and Technological Solutions

1. Introduction

Autonomous vehicles (AVs), including self-driving cars and delivery robots, must navigate complex
environments with high levels of precision. Maneuverability—the ability to change speed, direction, and
orientation smoothly—is critical for avoiding obstacles, turning in tight spaces, and maintaining passenger
comfort. However, achieving this in real-world scenarios presents multiple challenges.

2. Maneuverability Challenges

2.1 Environmental Complexity Urban areas include pedestrians, narrow lanes, sudden obstacles, and
unpredictable behavior from human drivers.

2.2 Turning Radius Constraints Large vehicles struggle with sharp turns in confined spaces like parking
lots or intersections.

2.3 Road Conditions Slippery surfaces, uneven terrain, or construction zones affect traction and steering.

2.4 Dynamic Decision-Making Vehicles must react instantly to changes such as red lights, overtaking cars,
or jaywalking pedestrians.

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2.5 High-Speed Stability Maintaining smooth lane changes and curvature control at highway speeds
requires real-time high-frequency actuation.

3. Design and Technological Solutions

3.1 Sensor Fusion and Perception Using LIDAR, radar, ultrasonic sensors, and cameras, AVs build a
comprehensive model of the environment. Data fusion enhances object detection and road understanding.

3.2 Advanced Motion Planning Algorithms like A, RRT, and Hybrid A* help determine feasible and smooth
trajectories that respect kinematic and dynamic constraints.

3.3 Real-Time Control Systems Model Predictive Control (MPC) and Adaptive Cruise Control (ACC) optimize
future motion decisions, considering vehicle limits and environmental factors.

3.4 Mechanical Design Enhancements - Four-wheel steering: Improves turning capabilities. -

3.5 AI and Machine Learning Neural networks and reinforcement learning help AVs learn from experience
and generalize to unseen scenarios, improving maneuverability over time.

4. Integration and Testing Simulation tools like CARLA and real-world testing platforms ensure algorithms
perform under various traffic, weather, and terrain conditions. Continuous testing and data-driven
refinements are critical for deploying maneuverable AVs at scale.

5. Conclusion

Maneuverability in autonomous vehicles is a multifaceted challenge requiring an interplay of mechanical