Kinodynamic motion planning and control for an X4-Flyer using anisotropic damping forces

We present a novel method to control an X4-Flyer using kinodynamic motion planning. Kinodynamic motion planning is the planning technique of generating a control input by solving the problems of kinematic constraints and dynamic constraints simultaneously, and it is useful for simpler generation of the control input. In this paper, we extend existing kinodynamic motion planning, which uses “Harmonic potential field (HPF)” and some damping forces for the control of simple point mass, to the motion planning for an X4-Flyer, which is a complex multivariable system. Then, we use “nonlinear anisotropic damping forces (NADFs),” which is proposed by Masoud, as damping force. In the simulation, a method using NADFs is compared with that using viscous damping forces. From the simulation, it is confirmed that the kinodynamic motion planning can be realized for an X4-Flyer.