TY - GEN
T1 - 3-dimensional kinodynamic motion planning for an X4-Flyer using 2-dimensional harmonic potential fields
AU - Motonaka, Kimiko
AU - Watanabe, Keigo
AU - Maeyama, Shoichi
N1 - Publisher Copyright:
© 2014 Institute of Control, Robotics and Systems (ICROS).
PY - 2014/12/16
Y1 - 2014/12/16
N2 - In this research, it is aimed at guiding an X4-Flyer, which is a VTOL type UAV, to an arbitrary target point. In the previous research, we proposed a controller for an X4-Flyer to move on the X-Y plane by using a 2-dimensional harmonic potential field (HPF), assuming that the X4-Flyer keeps its altitude constantly. In this paper, the controller guides the X4-Flyer to an arbitrary target point in a 3-dimensional space by switching some 2-dimensional HPFs appropriately. It is confirmed on the simulation that the X4-Flyer can reach the arbitrary target point in the 3-dimensional space by using the proposed method.
AB - In this research, it is aimed at guiding an X4-Flyer, which is a VTOL type UAV, to an arbitrary target point. In the previous research, we proposed a controller for an X4-Flyer to move on the X-Y plane by using a 2-dimensional harmonic potential field (HPF), assuming that the X4-Flyer keeps its altitude constantly. In this paper, the controller guides the X4-Flyer to an arbitrary target point in a 3-dimensional space by switching some 2-dimensional HPFs appropriately. It is confirmed on the simulation that the X4-Flyer can reach the arbitrary target point in the 3-dimensional space by using the proposed method.
KW - Aerial robots
KW - Kinodynamics
KW - Potential field
UR - http://www.scopus.com/inward/record.url?scp=84920107599&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84920107599&partnerID=8YFLogxK
U2 - 10.1109/ICCAS.2014.6987738
DO - 10.1109/ICCAS.2014.6987738
M3 - Conference contribution
AN - SCOPUS:84920107599
T3 - International Conference on Control, Automation and Systems
SP - 1181
EP - 1184
BT - International Conference on Control, Automation and Systems
PB - IEEE Computer Society
T2 - 2014 14th International Conference on Control, Automation and Systems, ICCAS 2014
Y2 - 22 October 2014 through 25 October 2014
ER -