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 language | English |
|---|---|
| Title of host publication | 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 176-179 |
| Number of pages | 4 |
| Volume | 2017-November |
| ISBN (Electronic) | 9784907764579 |
| DOIs | |
| Publication status | Published - Nov 10 2017 |
| Event | 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 - Kanazawa, Japan Duration: Sept 19 2017 → Sept 22 2017 |
Other
| Other | 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 |
|---|---|
| Country/Territory | Japan |
| City | Kanazawa |
| Period | 9/19/17 → 9/22/17 |
Keywords
- Kinodynamic control
- Motion planning
- quadrotor
ASJC Scopus subject areas
- Computer Science Applications
- Control and Optimization
- Control and Systems Engineering
- Instrumentation