Study on navigation system to arbitrary direction for autonomous aerial robot with quad-rotor

In this report, an autonomous aerial flying robot with quad-rotor mechanism is described. The authors propose formulation separating into attitude control term and height control term, and construct navigation system for arbitrary direction of 3-axis. The formulation proposed here for the quad-rotor system is analytically conducted by static constrain condition, the equations obtained by dynamics formulation is consisted as two terms consisting of the term for height control and the term for 3-axis attitude control. And more to equip the formulation, PD controller for attitude and height control system is used. For verifying the effectiveness of constructed navigation control system, experiments of navigation of arbitrary azimuth direction and height measurement are executed and the obtained result are estimated.