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 (Print) | 9788993215069 |
| DOIs | |
| 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 |
Other
| Other | 2014 14th International Conference on Control, Automation and Systems, ICCAS 2014 |
|---|---|
| Country | Korea, Republic of |
| City | Gyeonggi-do |
| Period | 10/22/14 → 10/25/14 |
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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
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 proceeding › Conference contribution
}
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
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
SN - 9788993215069
SP - 1181
EP - 1184
BT - International Conference on Control, Automation and Systems
PB - IEEE Computer Society
ER -