Recovery Direction Classification: Reduced Order Quadrotor Dynamics Based Method
- Title
- Recovery Direction Classification: Reduced Order Quadrotor Dynamics Based Method
- Authors
- LEE, CHANGHYEON; Woojoung Lim; Sim, Seunghyeon; Jooyeol Jung; HAN, SOOHEE
- Date Issued
- 2023-10-18
- Publisher
- ICROS
- Abstract
- Quadrotors are experiencing significant growth due to advancements in technology, expanding their applications
beyond traditional domains. Urgent scenarios necessitate exploiting quadrotors’ agile maneuvers, including prompt
deployment through throw launching. However, extreme maneuvering can lead to control failures such as crashes and
odometry estimation malfunctions. System re-initialization and recovery control are vital for stable throw launching and
countering control failures. Existing control strategies prioritize attitude recovery in the shorter angular direction towards
the desired attitude, overlooking potential efficiency gains. To address this, we propose a reduced dynamics-based
recovery direction classification method. By simplifying quadrotor dynamics into a 1-dimensional representation and predicting
overall recovery time using the Newton-Raphson method, we enable swift operation in critical recovery scenarios,
enhancing quadrotor recovery control.
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/122407
- Article Type
- Conference
- Citation
- 2023 The 23rd International Conference on Control, Automation and Systems (ICCAS 2023), 2023-10-18
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