Kinodynamic motion planning and control for an X4-Flyer using anisotropic damping forces

Kimiko Motonaka, Keigo Watanabe, Shoichi Maeyama

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

4 Citations (Scopus)

Abstract

We present a novel method to control an X4-Flyer using kinodynamic motion planning. Kinodynamic motion planning is the planning technique of generating a control input by solving the problems of kinematic constraints and dynamic constraints simultaneously, and it is useful for simpler generation of the control input. In this paper, we extend existing kinodynamic motion planning, which uses 'Harmonic potential field (HPF)' and some damping forces for the control of simple point mass, to the motion planning for an X4-Flyer, which is a complex multivariable system. Then, we use 'nonlinear anisotropic damping forces (NADFs),' which is proposed by Masoud, as damping force. In the simulation, a method using NADFs is compared with that using viscous damping forces. From the simulation, it is confirmed that the kinodynamic motion planning can be realized for an X4-Flyer.

Original languageEnglish
Title of host publicationIROS 2013
Subtitle of host publicationNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages4407-4412
Number of pages6
DOIs
Publication statusPublished - Dec 1 2013
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: Nov 3 2013Nov 8 2013

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
CountryJapan
CityTokyo
Period11/3/1311/8/13

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Motonaka, K., Watanabe, K., & Maeyama, S. (2013). Kinodynamic motion planning and control for an X4-Flyer using anisotropic damping forces. In IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4407-4412). [6696989] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2013.6696989