Flight simulations of kinodynamic control using the information around a quadrotor

Kimiko Motonaka, Keigo Watanabe, Shoichi Maeyama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The autonomous control of the quadrotor has received attention. In the previous research, we proposed the kinodynamic control using a harmonic potential field (HPF), which is a method to design a control input by considering kinematic constraints and dynamic constraints simultaneously. However, it was assumed that the environment was already known and the HPF of the environment was prepared in advance. Therefore, in this paper, assume that a final target position is given to the quadrotor and the quadrotor moves by relying on the mounted sensor. It is confirmed, by a simulation using the Matlab, that the proposed method can guide the quadrotor to the target position.

Original languageEnglish
Title of host publication2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages176-179
Number of pages4
Volume2017-November
ISBN (Electronic)9784907764579
DOIs
Publication statusPublished - Nov 10 2017
Event56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 - Kanazawa, Japan
Duration: Sep 19 2017Sep 22 2017

Other

Other56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
CountryJapan
CityKanazawa
Period9/19/179/22/17

Fingerprint

flight simulation
Flight Simulation
Harmonic Potential
Potential Field
potential fields
harmonics
Target
MATLAB
Kinematics
kinematics
Sensor
sensors
Sensors
Simulation
simulation

Keywords

  • Kinodynamic control
  • Motion planning
  • quadrotor

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Optimization
  • Control and Systems Engineering
  • Instrumentation

Cite this

Motonaka, K., Watanabe, K., & Maeyama, S. (2017). Flight simulations of kinodynamic control using the information around a quadrotor. In 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 (Vol. 2017-November, pp. 176-179). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/SICE.2017.8105638

Flight simulations of kinodynamic control using the information around a quadrotor. / Motonaka, Kimiko; Watanabe, Keigo; Maeyama, Shoichi.

2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017. Vol. 2017-November Institute of Electrical and Electronics Engineers Inc., 2017. p. 176-179.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Motonaka, K, Watanabe, K & Maeyama, S 2017, Flight simulations of kinodynamic control using the information around a quadrotor. in 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017. vol. 2017-November, Institute of Electrical and Electronics Engineers Inc., pp. 176-179, 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017, Kanazawa, Japan, 9/19/17. https://doi.org/10.23919/SICE.2017.8105638
Motonaka K, Watanabe K, Maeyama S. Flight simulations of kinodynamic control using the information around a quadrotor. In 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017. Vol. 2017-November. Institute of Electrical and Electronics Engineers Inc. 2017. p. 176-179 https://doi.org/10.23919/SICE.2017.8105638
Motonaka, Kimiko ; Watanabe, Keigo ; Maeyama, Shoichi. / Flight simulations of kinodynamic control using the information around a quadrotor. 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017. Vol. 2017-November Institute of Electrical and Electronics Engineers Inc., 2017. pp. 176-179
@inproceedings{89afae6456fc49648802bf4c5b03e5a4,
title = "Flight simulations of kinodynamic control using the information around a quadrotor",
abstract = "The autonomous control of the quadrotor has received attention. In the previous research, we proposed the kinodynamic control using a harmonic potential field (HPF), which is a method to design a control input by considering kinematic constraints and dynamic constraints simultaneously. However, it was assumed that the environment was already known and the HPF of the environment was prepared in advance. Therefore, in this paper, assume that a final target position is given to the quadrotor and the quadrotor moves by relying on the mounted sensor. It is confirmed, by a simulation using the Matlab, that the proposed method can guide the quadrotor to the target position.",
keywords = "Kinodynamic control, Motion planning, quadrotor",
author = "Kimiko Motonaka and Keigo Watanabe and Shoichi Maeyama",
year = "2017",
month = "11",
day = "10",
doi = "10.23919/SICE.2017.8105638",
language = "English",
volume = "2017-November",
pages = "176--179",
booktitle = "2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - Flight simulations of kinodynamic control using the information around a quadrotor

AU - Motonaka, Kimiko

AU - Watanabe, Keigo

AU - Maeyama, Shoichi

PY - 2017/11/10

Y1 - 2017/11/10

N2 - The autonomous control of the quadrotor has received attention. In the previous research, we proposed the kinodynamic control using a harmonic potential field (HPF), which is a method to design a control input by considering kinematic constraints and dynamic constraints simultaneously. However, it was assumed that the environment was already known and the HPF of the environment was prepared in advance. Therefore, in this paper, assume that a final target position is given to the quadrotor and the quadrotor moves by relying on the mounted sensor. It is confirmed, by a simulation using the Matlab, that the proposed method can guide the quadrotor to the target position.

AB - The autonomous control of the quadrotor has received attention. In the previous research, we proposed the kinodynamic control using a harmonic potential field (HPF), which is a method to design a control input by considering kinematic constraints and dynamic constraints simultaneously. However, it was assumed that the environment was already known and the HPF of the environment was prepared in advance. Therefore, in this paper, assume that a final target position is given to the quadrotor and the quadrotor moves by relying on the mounted sensor. It is confirmed, by a simulation using the Matlab, that the proposed method can guide the quadrotor to the target position.

KW - Kinodynamic control

KW - Motion planning

KW - quadrotor

UR - http://www.scopus.com/inward/record.url?scp=85044167873&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85044167873&partnerID=8YFLogxK

U2 - 10.23919/SICE.2017.8105638

DO - 10.23919/SICE.2017.8105638

M3 - Conference contribution

AN - SCOPUS:85044167873

VL - 2017-November

SP - 176

EP - 179

BT - 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017

PB - Institute of Electrical and Electronics Engineers Inc.

ER -