Kinodynamic Motion Planning for an X4-Flyer Using a 2-Dimentional Harmonic Potential Field

摘要

In this research, we present a control method usingkinodynamic motion planning based on a harmonic potential field(HPF) for an X4-Flyer moving in a 3-dimensional space. In theprevious research, it was confirmed that a controller using twoHPFs generated on the X-Y and X-Z planes was able to guide theX4-Flyer to the arbitrary target point in a 3-dimensional space.In this paper, the previous method is extended to the case wherethree 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 usingthe proposed method through some simulations.