AirPilot: A PPO-based DRL Auto-Tuned Nonlinear PID Drone Controller for Robust Autonomous Flights

Navigation precision, speed and stability are crucial for safe UAV flight maneuvers and effective flight mission executions in dynamic environments. Different flight missions may have varying objectives, such as minimizing energy consumption, achieving precise positioning, or maximizing speed. A controller that can adapt to different objectives on the fly is highly valuable. Proportional Integral Derivative controllers are one of the most popular and widely used control algorithms for drones control systems, but their linear control algorithm fails to capture the nonlinear nature of the dynamic wind conditions and complex drone system. Manually tuning the PID gains for various missions can be time-consuming and requires significant expertise. This paper aims to revolutionize drone flight control by presenting the AirPilot, a nonlinear Deep Reinforcement Learning (DRL) - enhanced PID drone controller using Proximal Policy Optimization. AirPilot controller combines the simplicity and effectiveness of traditional PID control with the adaptability, learning capability, and optimization potential of DRL. This makes it better suited for modern drone applications where the environment is dynamic, and mission-specific performance demands are high. We employed a COEX Clover autonomous drone for training the DRL agent within the Gazebo simulator and subsequently implemented it in a real-world lab setting, which marks a significant milestone as one of the first attempts to apply a DRL-based flight controller on an actual drone. Airpilot is capable of reducing the navigation error by more than 82% and improving overshoot, speed and settling time significantly.