Motion planning of a UAV using a kinodynamic motion planning method

Kimiko Motonaka; Keigo Watanabe; Shoichi Maeyama

doi:10.1109/IECON.2013.6700186

Motion planning of a UAV using a kinodynamic motion planning method

Kimiko Motonaka, Keigo Watanabe, Shoichi Maeyama

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 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 language	English
Title of host publication	Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
Pages	6383-6387
Number of pages	5
DOIs	https://doi.org/10.1109/IECON.2013.6700186
Publication status	Published - Dec 1 2013
Event	39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria Duration: Nov 10 2013 → Nov 14 2013

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)

Other

Other	39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
Country	Austria
City	Vienna
Period	11/10/13 → 11/14/13

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2013.6700186

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

Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society. 2013. p. 6383-6387 6700186 (IECON Proceedings (Industrial Electronics Conference)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Motonaka, K, Watanabe, K & Maeyama, S 2013, Motion planning of a UAV using a kinodynamic motion planning method. in Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society., 6700186, IECON Proceedings (Industrial Electronics Conference), 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

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