This article depicts a navigation control system design that is based on a set of rules in order to follow a desired
trajectory. The full control of the aircraft considered here comprises: a low level stability control loop, based on classic
PID controller and the higher level navigation whose main job is to exercise lateral control (course) and altitude control,
trying to follow a desired trajectory. The rules and PID gains were adjusted systematically according to the result of
flight simulation. In spite of its simplicity, the rule-based navigation control proved to be robust, even with big
perturbation, like crossing winds.
In this paper, a global control structure for autonomous robotic aircraft is proposed. The main objective of this advanced
control structure is to provide the unmanned aircraft with the necessary autonomy, at different levels, so that it can
accomplish complex missions, like autonomous exploration and patrolling, without the remote attendance of an operator.
The solution proposed is based on a robotic methodology that considers a multilevel control structure, with different real
time requirements, where each level is built on multiple interconnected and clearly defined modules. The proposed
control structure consists of a high level mission control and supervision module, an intermediate level control module
for navigation and obstacle management, and at the lower level, the control module which deals with stability and vessel
survival. An implementation of the control architecture is shown for a UAV platform used for geophysical exploration.