kinodynamic motion planning for an x4-flyer using a 2-dimentional harmonic potential field
Abstract
In this research, we present a control method using
kinodynamic motion planning based on a harmonic potential field
(HPF) for an X4-Flyer moving in a 3-dimensional space. In the
previous research, it was confirmed that a controller using two
HPFs generated on the X-Y and X-Z planes was able to guide the
X4-Flyer to the arbitrary target point in a 3-dimensional space.
In this paper, the previous method is extended to the case where
three HPFs generated on the X-Y, X-Z, and Y-Z planes are used,
and it is verified that the X4-Flyer can move efficiently by using
the proposed method through some simulations
kinodynamic motion planning based on a harmonic potential field
(HPF) for an X4-Flyer moving in a 3-dimensional space. In the
previous research, it was confirmed that a controller using two
HPFs generated on the X-Y and X-Z planes was able to guide the
X4-Flyer to the arbitrary target point in a 3-dimensional space.
In this paper, the previous method is extended to the case where
three HPFs generated on the X-Y, X-Z, and Y-Z planes are used,
and it is verified that the X4-Flyer can move efficiently by using
the proposed method through some simulations
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156339
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motonaka2016internationalkinodynamic
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