Flight simulations of kinodynamic control using the information around a quadrotor

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.