@inproceedings{f1e1630086d94e9bbd6661aa6f55cc88,
title = "3-dimensional kinodynamic motion planning for an X4-Flyer using 2-dimensional harmonic potential fields",
abstract = "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.",
keywords = "Aerial robots, Kinodynamics, Potential field",
author = "Kimiko Motonaka and Keigo Watanabe and Shoichi Maeyama",
year = "2014",
month = dec,
day = "16",
doi = "10.1109/ICCAS.2014.6987738",
language = "English",
series = "International Conference on Control, Automation and Systems",
publisher = "IEEE Computer Society",
pages = "1181--1184",
booktitle = "International Conference on Control, Automation and Systems",
address = "United States",
note = "2014 14th International Conference on Control, Automation and Systems, ICCAS 2014 ; Conference date: 22-10-2014 Through 25-10-2014",
}