Control and Dynamic Motion Planning for a Hybrid Air-Underwater Quadrotor: Minimizing Energy Use in a Flooded Cave Environment
We present a dynamic path planning algorithm to navigate an amphibious rotor craft through a concave time-invariant obstacle field while attempting to minimize energy usage. We create a nonlinear quaternion state model that represents the rotor craft dynamics above and below the water. The 6 degree...
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| creator | Semenov, Ilya Brown, Robert Otte, Michael |
| description | We present a dynamic path planning algorithm to navigate an amphibious rotor craft through a concave time-invariant obstacle field while attempting to minimize energy usage. We create a nonlinear quaternion state model that represents the rotor craft dynamics above and below the water. The 6 degree of freedom dynamics used within a layered architecture to generate motion paths for the vehicle to follow and the required control inputs. The rotor craft has a 3 dimensional map of its surroundings that is updated via limited range onboard sensor readings within the current medium (air or water). Path planning is done via PRM and D* Lite. |
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| subjects | Algorithms Energy consumption Motion planning Path planning Quaternions Rotors |
| title | Control and Dynamic Motion Planning for a Hybrid Air-Underwater Quadrotor: Minimizing Energy Use in a Flooded Cave Environment |
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