Study on Arbitrary Direction Navigation System for Autonomous Multirotor with Arbitrary Configuration of Rotors

In this paper, an autonomous aerial robot system with a multirotor mechanism is described, where the robot has an arbitrary configuration of rotors. To construct a navigation system for the arbitrary 3-axis direction, the static constraint conditions are treated as dynamic equilibrium, and the analy...

Full description

Saved in:
Bibliographic Details
Published inJournal of robotics and mechatronics Vol. 32; no. 6; pp. 1268 - 1278
Main Authors Hirakoso, Nobuto, Tamura, Ryoichiro, Shigematsu, Yoichi
Format Journal Article
LanguageEnglish
Published Tokyo Fuji Technology Press Co. Ltd 01.12.2020
Subjects
Attitudes
Autonomous navigation
Configurations
Control systems
Exact solutions
Navigation systems
Proportional integral derivative
Robots
Rotors
Three axis
Online AccessGet full text

Cover

More Information
Summary:In this paper, an autonomous aerial robot system with a multirotor mechanism is described, where the robot has an arbitrary configuration of rotors. To construct a navigation system for the arbitrary 3-axis direction, the static constraint conditions are treated as dynamic equilibrium, and the analytical solution of this formulation is obtained with regard to two terms, namely attitude and height control. Moreover, the obtained analytical solution is implemented as a proportional-integral-derivative controller such that the navigation control system is fused with the attitude and height control systems optimally. To confirm the efficacy of this constructed navigation control system, navigation experiments with arbitrary azimuth direction and height are executed for a manufactured trial quadrotor system as an aerial robot and the results are estimated.
ISSN:0915-3942
1883-8049
DOI:10.20965/jrm.2020.p1268