Modeling, guidance and control of quadrotor UAVs on SE(3) in application to autonomous docking

Purpose Propose guidance and control schemes for the autonomous docking of quadrotors. Design/methodology/approach Theoretical and simulation (matlab) studies. Findings A guidance and control scheme for the autonomous docking of quadrotors has been developed. The guidance scheme proposed for the approach phase adopts artificial potential function method to achieve both the translational and rotational requirements simultaneously. A nonlinear port dynamics controller on SE(3), which can control the port position precisely, meets the docking phase requirements. Research limitations/implications Practical constraints on quadrotor flight and docking, such as the influence of disturbances, actuator limitations, and the presence of reaction forces between ports are not considered. Practical implications Docking, a relatively new concept for quadrotors, can be used for various applications such as powering a quadrotor while in flight, assembling multiple quadrotors to increase payload carrying capacity, and aerial robotics. Co-operative aerial manipulation and transportation using quadrotors can be achieved once establishing a physical connection between quadrotors through docking. Originality/value The concept of autonomous docking of multiple quadrotors, where both the quadrotors cooperatively move toward each other and dock has not been studied as per the best of authors' knowledge. Also, geometric nonlinear port dynamics controller on SE(3) has not been developed/studied.