3-dimensional kinodynamic motion planning for an X4-Flyer using 2-dimensional harmonic potential fields

Kimiko Motonaka, Keigo Watanabe, Shoichi Maeyama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationInternational Conference on Control, Automation and Systems
PublisherIEEE Computer Society
Pages1181-1184
Number of pages4
ISBN (Print)9788993215069
DOIs
Publication statusPublished - Dec 16 2014
Event2014 14th International Conference on Control, Automation and Systems, ICCAS 2014 - Gyeonggi-do, Korea, Republic of
Duration: Oct 22 2014Oct 25 2014

Other

Other2014 14th International Conference on Control, Automation and Systems, ICCAS 2014
CountryKorea, Republic of
CityGyeonggi-do
Period10/22/1410/25/14

Fingerprint

Motion planning
Controllers
Unmanned aerial vehicles (UAV)

Keywords

  • Aerial robots
  • Kinodynamics
  • Potential field

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Motonaka, K., Watanabe, K., & Maeyama, S. (2014). 3-dimensional kinodynamic motion planning for an X4-Flyer using 2-dimensional harmonic potential fields. In International Conference on Control, Automation and Systems (pp. 1181-1184). [6987738] IEEE Computer Society. https://doi.org/10.1109/ICCAS.2014.6987738

3-dimensional kinodynamic motion planning for an X4-Flyer using 2-dimensional harmonic potential fields. / Motonaka, Kimiko; Watanabe, Keigo; Maeyama, Shoichi.

International Conference on Control, Automation and Systems. IEEE Computer Society, 2014. p. 1181-1184 6987738.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Motonaka, K, Watanabe, K & Maeyama, S 2014, 3-dimensional kinodynamic motion planning for an X4-Flyer using 2-dimensional harmonic potential fields. in International Conference on Control, Automation and Systems., 6987738, IEEE Computer Society, pp. 1181-1184, 2014 14th International Conference on Control, Automation and Systems, ICCAS 2014, Gyeonggi-do, Korea, Republic of, 10/22/14. https://doi.org/10.1109/ICCAS.2014.6987738
Motonaka K, Watanabe K, Maeyama S. 3-dimensional kinodynamic motion planning for an X4-Flyer using 2-dimensional harmonic potential fields. In International Conference on Control, Automation and Systems. IEEE Computer Society. 2014. p. 1181-1184. 6987738 https://doi.org/10.1109/ICCAS.2014.6987738
Motonaka, Kimiko ; Watanabe, Keigo ; Maeyama, Shoichi. / 3-dimensional kinodynamic motion planning for an X4-Flyer using 2-dimensional harmonic potential fields. International Conference on Control, Automation and Systems. IEEE Computer Society, 2014. pp. 1181-1184
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