Control System for a Quadrotor Using the Harmonic Potential Field Information around the Robot

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 it moves only by relying on the mounted sensors, without using the HPF information calculated in advance. It is confirmed, by a simulation using the Matlab, that the proposed method can guide the quadrotor to the target position.