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

Kimiko Motonaka; Keigo Watanabe; Shoichi Maeyama

doi:10.1109/ICCAS.2014.6987738

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 proceeding › Conference contribution

11 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 language	English
Title of host publication	International Conference on Control, Automation and Systems
Publisher	IEEE Computer Society
Pages	1181-1184
Number of pages	4
ISBN (Electronic)	9788993215069
DOIs	https://doi.org/10.1109/ICCAS.2014.6987738
Publication status	Published - Dec 16 2014
Event	2014 14th International Conference on Control, Automation and Systems, ICCAS 2014 - Gyeonggi-do, Korea, Republic of Duration: Oct 22 2014 → Oct 25 2014

Publication series

Name	International Conference on Control, Automation and Systems
ISSN (Print)	1598-7833

Other

Other	2014 14th International Conference on Control, Automation and Systems, ICCAS 2014
Country/Territory	Korea, Republic of
City	Gyeonggi-do
Period	10/22/14 → 10/25/14

Keywords

Aerial robots
Kinodynamics
Potential field

ASJC Scopus subject areas

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

Access to Document

10.1109/ICCAS.2014.6987738

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] (International Conference on Control, Automation and Systems). 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 (International Conference on Control, Automation and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference 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, International Conference on Control, Automation and Systems, 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

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

Abstract

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Keywords

ASJC Scopus subject areas

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