Kinodynamic Motion Planning for an X4-Flyer by Switching Harmonic Potential Fields
Keywords:
Kinodynamics, Motion Planning, Aerial robotAbstract
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.
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