Autonomous flight control system of quadrotor and its application to formation control with mobile robot

Abstract

This paper presents an autonomous flight control system of a quadrotor ARdrone 2.0 only using the internal sensor. Since AR.Drone is designed as a quadrotor with four control commands, four velocity models are constructed by the step response experiments. The basic control laws designed by LQR are combined with each other to construct the complex control system for required flight missions. Furthermore, the proposed autonomous flight control system is applied to a formation control with a mobile robot. The effectiveness of the proposed autonomous flight control system is demonstrated in experiments.