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

Keywords

  • Kinodynamic control
  • Motion planning
  • quadrotor

ASJC Scopus subject areas

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

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  • 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