Kinodynamic motion planning and control for an X4-Flyer using anisotropic damping forces

Motonaka, Kimiko; Watanabe, Keigo; Maeyama, Shoichi

doi:10.1109/iros.2013.6696989

Cited by 13 publications

(5 citation statements)

References 18 publications

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“…In this research, the kinodynamic motion planning for the quadrotor is achieved by combining control input based on the harmonic potential field (HPF) for considering the obstacle information on the environment with nonholonomic control input for considering the dynamics of the quadrotor. By using the proposed method, it is already confirmed by simulations that the quadrotor can move to the arbitrary target point while avoiding obstacles and keeping its attitudes [6].…”

Section: Introductionmentioning

confidence: 74%

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Obstacle Avoidance for Autonomous Locomotion of a Quadrotor Using an HPF

Motonaka¹,

Watanabe²,

Maeyama³

2016

IJSMM

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Abstract-There is a concept called "kinodynamic motion planning" which can consider kinematic constraints and dynamic constraints simultaneously. In this paper, we test the proposed kinodynamic motion planning, which was confirmed in only simulations, by an actual experiment. The experiment assumes that the quadrotor moves in the static environment, and it is confirmed that the quadrotor can reach around the requested target point while avoiding the obstacles.

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Section: Introductionmentioning

confidence: 74%

“…In this experiment, the environment is assumed to be known, and the HPF that was created in advance is used. For checking the detail of the HPF, see the paper [6]. …”

Section: International Journal On Smart Materials and Mechatronics Volmentioning

confidence: 99%

Obstacle Avoidance for Autonomous Locomotion of a Quadrotor Using an HPF

Motonaka¹,

Watanabe²,

Maeyama³

2016

IJSMM

Self Cite

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“…In this experiment, the environment is assumed to be known, and the HPF that was created in advance is used. For checking the detail of the HPF, see the paper [6]. A.…”

Section: Methodsmentioning

confidence: 99%

Implementation and basic experiments of kinodynamic motion planning for a quadrotor

Motonaka

Watanabe

Maeyama

2015

IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society

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In this paper, kinodynamic motion planning is described for keeping the attitude of a quadrotor and converging to an arbitrary target point, while avoiding obstacles. Kinodynamic motion planning was extended for a quadrotor in our previous research, but its behavior was confirmed only in simulations. Therefore, we implement the proposed kinodynamic motion planning to an actual quadrotor, and confirm the usability of our method through basic motion experiments.

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“…The dynamical model of a quadrotor, which has m [kg] was able to show as follows using the inputs for translational motion 1 U , roll (  ) angle motion 2 U , pitch ( ) angle motion In the proposed method, kinodynamic motion planning is achieved by combining nonholonomic control input and the Here, 1 U is a control input for acting on each translational motion, and 2 U , 3 U and 4 U are control inputs for acting on roll angle  , pitch angle  and yaw angle  , respectively.…”

Section: The Dynamical Model and The Control Inputmentioning

confidence: 99%

“…For the autonomous locomotion of a quadrotor, it needs to move and avoid obstacles while keeping its attitude. In the previous research, we designed a controller for guiding the quadrotor based on "kinodynamic motion planning" using the gradient of a harmonic potential field (HPF) [1]. The kinodynamic control aims to design a control input so that we consider kinematic constraints, which are generated from the obstacles in an environment, and dynamic constraints, which need to control the state of the airframe, simultaneously [2]- [6].…”

Section: Introductionmentioning

confidence: 99%

Basic Simulations of Kinodynamic Control Using Local Environmental Information

Motonaka¹,

Watanabe²

2016

IJSMM

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Abstract-The kinodynamic control aims to design a control input so that we consider kinematic constraints, which is generated from an environment, and dynamic constraints of the airframe, simultaneously. In the previous research, we converted the environmental information to the harmonic potential field (HPF), and added its gradient information to the conventional dynamical control input. However, it was assumed in the previous research that the environmental information is known absolutely. In this research, we assume the actual situation that the quadrotor flies autonomously in an indoor environment. We propose the kinodynamic control that considers the measurable region of the sensor mounted on the quadrotor to obtain the environmental information. In this paper, we make a basic simulation experiment and confirm that the proposed control input works well.

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Kinodynamic motion planning and control for an X4-Flyer using anisotropic damping forces

Cited by 13 publications

References 18 publications

Obstacle Avoidance for Autonomous Locomotion of a Quadrotor Using an HPF

Obstacle Avoidance for Autonomous Locomotion of a Quadrotor Using an HPF

Implementation and basic experiments of kinodynamic motion planning for a quadrotor

Basic Simulations of Kinodynamic Control Using Local Environmental Information

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