Abstract: In this paper, we modeled the dynamic characteristics of the drone type UAV (Unmanned aerial vehicle) moving in the lateral direction toward the front. Using this model, we constructed a control model for feed forward control to avoid obstacles from the front by step change of the speed target value. In this paper, the dynamic characteristics of the drone are modeled as the first-order lag transfer function when the left and right movement start by the stepwise change of the target speed value. Moreover, the dynamic characteristics at the end of flight where step change is returned to 0 are considered as transfer functions in which two first-order lag transfer functions are connected in series, and a model with continuity is constructed. The model was evaluated by comparing the actual data collection by experiments and numerical simulation. Moreover, using this dynamic characteristic, the control model that outputs the step-like speed change time was constructed with the movement distance required for avoidance as an input, and it was confirmed that it is useful for obstacle avoidance.
Keywords: uav, dynamics, dynamic modeling, obstacle avoidance, feed forward control