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

Content Provider	IEEE Xplore Digital Library
Author	Motonaka, K. Watanabe, K. Maeyama, S.
Copyright Year	2013
Description	Author affiliation: Grad. Sch. of Natural Sci. & Technol., Okayama Univ., Okayama, Japan (Motonaka, K.; Watanabe, K.; Maeyama, S.)
Abstract	We present a novel method to control an X4-Flyer using kinodynamic motion planning. Kinodynamic motion planning is the planning technique of generating a control input by solving the problems of kinematic constraints and dynamic constraints simultaneously, and it is useful for simpler generation of the control input. In this paper, we extend existing kinodynamic motion planning, which uses “Harmonic potential field (HPF)” and some damping forces for the control of simple point mass, to the motion planning for an X4-Flyer, which is a complex multivariable system. Then, we use “nonlinear anisotropic damping forces (NADFs),” which is proposed by Masoud, as damping force. In the simulation, a method using NADFs is compared with that using viscous damping forces. From the simulation, it is confirmed that the kinodynamic motion planning can be realized for an X4-Flyer.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	4407
Ending Page	4412
File Size	789909
Page Count	6
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696989
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Planning Damping Clamps Rotors Kinematics Dynamics Trajectory
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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