Recovery Direction Classification: Reduced Order Quadrotor Dynamics Based Method

Abstract

Quadrotors are experiencing significant growth due to advancements in technology, expanding their applications beyond traditional domains. Urgent scenarios necessitate exploiting quadrotors’ agile maneuvers, including prompt deployment through throw launching. However, extreme maneuvering can lead to control failures such as crashes and odometry estimation malfunctions. System re-initialization and recovery control are vital for stable throw launching and countering control failures. Existing control strategies prioritize attitude recovery in the shorter angular direction towards the desired attitude, overlooking potential efficiency gains. To address this, we propose a reduced dynamics-based recovery direction classification method. By simplifying quadrotor dynamics into a 1-dimensional representation and predicting overall recovery time using the Newton-Raphson method, we enable swift operation in critical recovery scenarios, enhancing quadrotor recovery control.