Abstract
In this research, we present a method to control an X4-Flyer using kinodynamic motion planning, and optimize each gain for the controller to obtain more stable control to a target point. In this paper, for realizing kinodynamic motion planning, we propose a controller combined nonholonomic control, which is used for an existing controller for X4-Flyer, with harmonic potential field (HPF). It is difficult to optimize gains manually, because there are a number of gains in the controller. Therefore, each gain is optimized by using GA. Then, it is confirmed that the X4-Flyer can also be controlled in an environment different from the searched environment by using searched gains.
| Original language | English |
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| Pages | 2727-2731 |
| Number of pages | 5 |
| Publication status | Published - Jan 1 2013 |
| Event | 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 - Nagoya, Japan Duration: Sept 14 2013 → Sept 17 2013 |
Other
| Other | 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 |
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| Country/Territory | Japan |
| City | Nagoya |
| Period | 9/14/13 → 9/17/13 |
Keywords
- Kinodynamic planning
- Optimization
- Potential field
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering