Implementation and basic experiments of kinodynamic motion planning for a quadrotor

Kimiko Motonaka; Keigo Watanabe; Shoichi Maeyama

doi:10.1109/IECON.2015.7392519

Implementation and basic experiments of kinodynamic motion planning for a quadrotor

Kimiko Motonaka, Keigo Watanabe, Shoichi Maeyama

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

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.

Original language	English
Title of host publication	IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2759-2764
Number of pages	6
ISBN (Electronic)	9781479917624
DOIs	https://doi.org/10.1109/IECON.2015.7392519
Publication status	Published - Jan 25 2016
Event	41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan Duration: Nov 9 2015 → Nov 12 2015

Other

Other	41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
Country/Territory	Japan
City	Yokohama
Period	11/9/15 → 11/12/15

ASJC Scopus subject areas

Electrical and Electronic Engineering
Industrial and Manufacturing Engineering

Access to Document

10.1109/IECON.2015.7392519

Cite this

Implementation and basic experiments of kinodynamic motion planning for a quadrotor. / Motonaka, Kimiko; Watanabe, Keigo; Maeyama, Shoichi.
IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2016. p. 2759-2764 7392519.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Motonaka, K, Watanabe, K & Maeyama, S 2016, Implementation and basic experiments of kinodynamic motion planning for a quadrotor. in IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society., 7392519, Institute of Electrical and Electronics Engineers Inc., pp. 2759-2764, 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015, Yokohama, Japan, 11/9/15. https://doi.org/10.1109/IECON.2015.7392519

@inproceedings{ca90daa9561a4aaf89ef1535b88fafe9,

title = "Implementation and basic experiments of kinodynamic motion planning for a quadrotor",

abstract = "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.",

author = "Kimiko Motonaka and Keigo Watanabe and Shoichi Maeyama",

year = "2016",

month = jan,

day = "25",

doi = "10.1109/IECON.2015.7392519",

language = "English",

pages = "2759--2764",

booktitle = "IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 ; Conference date: 09-11-2015 Through 12-11-2015",

}

TY - GEN

T1 - Implementation and basic experiments of kinodynamic motion planning for a quadrotor

AU - Motonaka, Kimiko

AU - Watanabe, Keigo

AU - Maeyama, Shoichi

PY - 2016/1/25

Y1 - 2016/1/25

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=84973158902&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84973158902&partnerID=8YFLogxK

U2 - 10.1109/IECON.2015.7392519

DO - 10.1109/IECON.2015.7392519

M3 - Conference contribution

AN - SCOPUS:84973158902

SP - 2759

EP - 2764

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

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015

Y2 - 9 November 2015 through 12 November 2015

ER -

Implementation and basic experiments of kinodynamic motion planning for a quadrotor

Abstract

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this