Implementation and basic experiments of kinodynamic motion planning for a quadrotor

Kimiko Motonaka, Keigo Watanabe, Shoichi Maeyama

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

Abstract

In this paper, kinodynamic motion planning is described for keeping the attitude of a quadrotor and converging to an arbitrary target point, while avoiding obstacles. Kinodynamic motion planning was extended for a quadrotor in our previous research, but its behavior was confirmed only in simulations. Therefore, we implement the proposed kinodynamic motion planning to an actual quadrotor, and confirm the usability of our method through basic motion experiments.

Original languageEnglish
Title of host publicationIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2759-2764
Number of pages6
ISBN (Electronic)9781479917624
DOIs
Publication statusPublished - Jan 25 2016
Event41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
Duration: Nov 9 2015Nov 12 2015

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
CountryJapan
CityYokohama
Period11/9/1511/12/15

Fingerprint

Motion planning
Experiments

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Motonaka, K., Watanabe, K., & Maeyama, S. (2016). Implementation and basic experiments of kinodynamic motion planning for a quadrotor. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society (pp. 2759-2764). [7392519] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2015.7392519

Implementation and basic experiments of kinodynamic motion planning for a quadrotor. / Motonaka, Kimiko; Watanabe, Keigo; Maeyama, Shoichi.

IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2016. p. 2759-2764 7392519.

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

Motonaka, K, Watanabe, K & Maeyama, S 2016, Implementation and basic experiments of kinodynamic motion planning for a quadrotor. in IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society., 7392519, Institute of Electrical and Electronics Engineers Inc., pp. 2759-2764, 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015, Yokohama, Japan, 11/9/15. https://doi.org/10.1109/IECON.2015.7392519
Motonaka K, Watanabe K, Maeyama S. Implementation and basic experiments of kinodynamic motion planning for a quadrotor. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc. 2016. p. 2759-2764. 7392519 https://doi.org/10.1109/IECON.2015.7392519
Motonaka, Kimiko ; Watanabe, Keigo ; Maeyama, Shoichi. / Implementation and basic experiments of kinodynamic motion planning for a quadrotor. IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 2759-2764
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