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 language | English |
|---|---|
| Title of host publication | IECON Proceedings (Industrial Electronics Conference) |
| Pages | 6383-6387 |
| Number of pages | 5 |
| DOIs | |
| Publication status | Published - 2013 |
| Event | 39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria Duration: Nov 10 2013 → Nov 14 2013 |
Other
| Other | 39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 |
|---|---|
| Country | Austria |
| City | Vienna |
| Period | 11/10/13 → 11/14/13 |
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ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - Motion planning of a UAV using a kinodynamic motion planning method
AU - Motonaka, Kimiko
AU - Watanabe, Keigo
AU - Maeyama, Shoichi
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84893625178&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893625178&partnerID=8YFLogxK
U2 - 10.1109/IECON.2013.6700186
DO - 10.1109/IECON.2013.6700186
M3 - Conference contribution
SN - 9781479902248
SP - 6383
EP - 6387
BT - IECON Proceedings (Industrial Electronics Conference)
ER -