Offline optimization of gains for kinodynamic motion planning for an X4-flyer

Kimiko Motonaka, Keigo Watanabe, Shoichi Maeyama

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

2 Citations (Scopus)

Abstract

In this research, we present a method to control an X4-Flyer using kinodynamic motion planning, and optimize each gain for the controller to obtain more stable control to a target point. In this paper, for realizing kinodynamic motion planning, we propose a controller combined nonholonomic control, which is used for an existing controller for X4-Flyer, with harmonic potential field (HPF). It is difficult to optimize gains manually, because there are a number of gains in the controller. Therefore, each gain is optimized by using GA. Then, it is confirmed that the X4-Flyer can also be controlled in an environment different from the searched environment by using searched gains.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages2727-2731
Number of pages5
Publication statusPublished - 2013
Event2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 - Nagoya, Japan
Duration: Sep 14 2013Sep 17 2013

Other

Other2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013
CountryJapan
CityNagoya
Period9/14/139/17/13

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Keywords

  • Kinodynamic planning
  • Optimization
  • Potential field

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Cite this

Motonaka, K., Watanabe, K., & Maeyama, S. (2013). Offline optimization of gains for kinodynamic motion planning for an X4-flyer. In Proceedings of the SICE Annual Conference (pp. 2727-2731)