基于二维谐波势场的x4飞片三维动力学运动规划

2014 14th International Conference on Control, Automation and Systems (ICCAS 2014) Pub Date : 2014-12-18 DOI:10.1109/ICCAS.2014.6987738

K. Motonaka, Keigo Watanabe, S. Maeyama

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引用次数: 7

摘要

在本研究中，X4-Flyer是一种垂直起降型无人机，旨在引导到任意目标点。在之前的研究中，我们提出了一种基于二维谐波势场(HPF)的X4-Flyer在X-Y平面上运动的控制器，假设X4-Flyer保持恒定的高度。在本文中，控制器通过适当地切换一些二维HPFs来引导X4-Flyer在三维空间中的任意目标点。仿真结果表明，采用该方法，X4-Flyer可以到达三维空间中的任意目标点。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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3-dimensional kinodynamic motion planning for an X4-Flyer using 2-dimensional harmonic potential fields

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.

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2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)

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