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Custom UAV with model predictive control for autonomous static and dynamic trajectory tracking in agricultural

Veera Venkata Ram Murali Krishna Rao Muvva1, Kunjan Theodore Joseph2, Yogesh Chawla2

  • 1Department of Biological Systems Engineering, School of Computing, University of Nebraska-Lincoln, Lincoln, NE, United States.

Frontiers in Robotics and AI
|January 1, 2026
PubMed
Summary

This study presents a customizable uncrewed aerial vehicle (UAV) for precision agriculture. The autonomous UAV achieves precise navigation and real-time coordination with ground vehicles, offering a flexible alternative to commercial systems.

Keywords:
Kalman filterautonomous UAVdronesmodel predictive controltrajectory tracking

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Area of Science:

  • Robotics
  • Agricultural Engineering
  • Control Systems

Background:

  • Commercial uncrewed aerial vehicles (UAVs) often have proprietary systems, limiting customization for specific applications like precision agriculture.
  • There is a need for adaptable, affordable, and highly autonomous aerial platforms in modern agriculture.

Purpose of the Study:

  • To introduce a custom-built UAV platform designed for precision agriculture.
  • To demonstrate advanced autonomy, modularity, and affordability in an aerial system.
  • To provide a flexible alternative to restricted commercial UAV systems.

Main Methods:

  • Integration of a Cube Blue flight controller and Raspberry Pi 4 companion computer.
  • Implementation of Model Predictive Control (MPC) for trajectory optimization and Kalman filtering for adaptive mission planning.
  • Testing in simulation and outdoor field environments, including static/dynamic waypoint tracking and coordination with a moving uncrewed ground vehicle (UGV).

Main Results:

  • Achieved precise autonomous navigation with root mean square errors between 8-20 cm for various trajectories.
  • Successfully coordinated with a moving UGV along nonlinear paths.
  • Demonstrated capability in handling wind-disturbed and complex flight paths.

Conclusions:

  • The custom UAV platform offers precise autonomous navigation and real-time coordination capabilities.
  • The system is suitable for real-world agricultural applications.
  • The modular and adaptable design presents a viable alternative to commercial UAV solutions.