Control Strategy and Flight Trajectory Optimization Strategy Based on Improved De Casteljau's Algorithm for Indoor Drone

In this paper, we introduced the control strategy of indoor drones and the optimization strategy for UAV flight. For the flight control of the UAV, we use a dual closed-loop control system. Specifically, it is to control the UAV to reach the desired position and achieve the desired attitude by setting the dual closed loop position loop and attitude loop. In order to allow the drone to safely and stably pass the unguided points in the set trajectory, we have improved the traditional De Casteljau's algorithm so that it can be better applied to the predetermined trajectory of the drone. Specifically, this improved algorithm selects different numbers of control points to construct the Bézier curve in sections according to the actual situation. Finally, a complete optimization strategy is obtained and we have proved through experiments that the improved De Casteljau's algorithm can indeed reduce drone flight errors and make the flight trajectory smoother and more stable.