Motion Planning of a UAV Using a Kinodynamic Motion Planning Method

In this research, we extend the kinodynamic motion planning using "nonlinear anisotropic damping forces (NADFs)," which had been applied to a point mass in the previous research, to the motion planning of "unmanned arerial vehicles (UAVs)". In the proposed system, we realize the autonomous locomotion for AUVs by combining the nonholonomic control, which is already established for the attitude control method, and kinodynamic motion planning. By applying this system, the control input for moving toward the given target point can be generated automatically, while keeping its altitude and attitude. In this paper, the system for controlling an X4-Flyer, which is composed of nonholonomic control and kinodynamic control, is explained. Moreover, it is confirmed in the simulation that the proposed system can guide the X4-Flyer by using the proposed method.