Hexacopter movement control method based on dynamic repellent forces in the three-dimensional environment with obstacles

Abstract

Hexacopter movement control method based on dynamic repellent forces in the three-dimensional environment with obstacles

Kulchenko A.E., Lazarev V.S., Medvedev M.Yu.

Incoming article date: 30.11.2016

In the article the method of dynamic repeller formation in case of drone movement control is offered for use in the three-dimensional environments with obstacles. Erle-HexaCopter is considered as drone in this article. Article contains the short description of a hexacopter mathematical model and positional-trajectory control movement algorithms. The method is based on representation obtacles as dynamic repeller is offered. Dynamic repellers are formed depending on the distance from the drone to the obstacle in the movement process. This method is analyzed and simulated in Matlab. Cases with one or several stationar obtacles are considered in simulation. In conclusion, we formulated the revealed features of this method

Keywords: Hexacopter, unformalized environment, 3D, round of obstacles, movement control, repeller, drone