Study on Arbitrary Direction Navigation System for Autonomous Multirotor with Arbitrary Configuration of Rotors

In this paper, an autonomous aerial robot system with a multirotor mechanism is described, where the robot has an arbitrary configuration of rotors. To construct a navigation system for the arbitrary 3-axis direction, the static constraint conditions are treated as dynamic equilibrium, and the analytical solution of this formulation is obtained with regard to two terms, namely attitude and height control. Moreover, the obtained analytical solution is implemented as a proportional-integral-derivative controller such that the navigation control system is fused with the attitude and height control systems optimally. To confirm the efficacy of this constructed navigation control system, navigation experiments with arbitrary azimuth direction and height are executed for a manufactured trial quadrotor system as an aerial robot and the results are estimated.