Basic Simulations of Kinodynamic Control Using Local Environmental Information

—The kinodynamic control aims to design a control input so that we consider kinematic constraints, which is generated from an environment, and dynamic constraints of the airframe, simultaneously. In the previous research, we converted the environmental information to the harmonic potential field (HPF), and added its gradient information to the conventional dynamical control input. However, it was assumed in the previous research that the environmental information is known absolutely. In this research, we assume the actual situation that the quadrotor flies autonomously in an indoor environment. We propose the kinodynamic control that considers the measurable region of the sensor mounted on the quadrotor to obtain the environmental information. In this paper, we make a basic simulation experiment and confirm that the proposed control input works well.