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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Veröffentlicht in:	arXiv.org 2023-01
Hauptverfasser:	Semenov, Ilya, Brown, Robert, Otte, Michael
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Energy consumption Motion planning Path planning Quaternions Rotors
Online-Zugang:	Volltext
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