Motion planning of a UAV using a kinodynamic motion planning method

Kimiko Motonaka, Keigo Watanabe, Shoichi Maeyama

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

2 Citations (Scopus)

Abstract

In this research, we extend the kinodynamic motion planning using 'nonlinear anisotropic damping forces (NADFs),' which had been applied to a point mass in the previous research, to the motion planning of 'unmanned arerial vehicles (UAVs)'. In the proposed system, we realize the autonomous locomotion for AUVs by combining the nonholonomic control, which is already established for the attitude control method, and kinodynamic motion planning. By applying this system, the control input for moving toward the given target point can be generated automatically, while keeping its altitude and attitude. In this paper, the system for controlling an X4-Flyer, which is composed of nonholonomic control and kinodynamic control, is explained. Moreover, it is confirmed in the simulation that the proposed system can guide the X4-Flyer by using the proposed method.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages6383-6387
Number of pages5
DOIs
Publication statusPublished - 2013
Event39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
Duration: Nov 10 2013Nov 14 2013

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
CountryAustria
CityVienna
Period11/10/1311/14/13

Fingerprint

Unmanned vehicles
Motion planning
Attitude control
Damping

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Motonaka, K., Watanabe, K., & Maeyama, S. (2013). Motion planning of a UAV using a kinodynamic motion planning method. In IECON Proceedings (Industrial Electronics Conference) (pp. 6383-6387). [6700186] https://doi.org/10.1109/IECON.2013.6700186

Motion planning of a UAV using a kinodynamic motion planning method. / Motonaka, Kimiko; Watanabe, Keigo; Maeyama, Shoichi.

IECON Proceedings (Industrial Electronics Conference). 2013. p. 6383-6387 6700186.

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

Motonaka, K, Watanabe, K & Maeyama, S 2013, Motion planning of a UAV using a kinodynamic motion planning method. in IECON Proceedings (Industrial Electronics Conference)., 6700186, pp. 6383-6387, 39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013, Vienna, Austria, 11/10/13. https://doi.org/10.1109/IECON.2013.6700186
Motonaka K, Watanabe K, Maeyama S. Motion planning of a UAV using a kinodynamic motion planning method. In IECON Proceedings (Industrial Electronics Conference). 2013. p. 6383-6387. 6700186 https://doi.org/10.1109/IECON.2013.6700186
Motonaka, Kimiko ; Watanabe, Keigo ; Maeyama, Shoichi. / Motion planning of a UAV using a kinodynamic motion planning method. IECON Proceedings (Industrial Electronics Conference). 2013. pp. 6383-6387
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