3-dimensional kinodynamic motion planning for an X4-Flyer using 2-dimensional harmonic potential fields
説明
In this research, it is aimed at guiding an X4-Flyer, which is a VTOL type UAV, to an arbitrary target point. In the previous research, we proposed a controller for an X4-Flyer to move on the X-Y plane by using a 2-dimensional harmonic potential field (HPF), assuming that the X4-Flyer keeps its altitude constantly. In this paper, the controller guides the X4-Flyer to an arbitrary target point in a 3-dimensional space by switching some 2-dimensional HPFs appropriately. It is confirmed on the simulation that the X4-Flyer can reach the arbitrary target point in the 3-dimensional space by using the proposed method.
収録刊行物
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- 2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)
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2014 14th International Conference on Control, Automation and Systems (ICCAS 2014) 1181-1184, 2014-10-01
IEEE