dc.creator | Rodríguez, Fabio | es |
dc.creator | Díaz Báñez, José Miguel | es |
dc.creator | Sánchez-Laulhé, Ernesto | es |
dc.creator | Capitán Fernández, Jesús | es |
dc.creator | Ollero Baturone, Aníbal | es |
dc.date.accessioned | 2022-09-23T15:53:53Z | |
dc.date.available | 2022-09-23T15:53:53Z | |
dc.date.issued | 2022 | |
dc.identifier.citation | Rodríguez, F., Díaz Báñez, J.M., Sánchez-Laulhé, E., Capitán Fernández, J. y Ollero Baturone, A. (2022). Kinodynamic planning for an energy-efficient autonomous ornithopter. Computers and Industrial Engineering, 163, Article number 107814. | |
dc.identifier.issn | 0360-8352 | es |
dc.identifier.uri | https://hdl.handle.net/11441/137349 | |
dc.description | Article number 107814 | es |
dc.description.abstract | This paper presents a novel algorithm to plan energy-efficient trajectories for autonomous ornithopters. In
general, trajectory optimization is quite a relevant problem for practical applications with Unmanned Aerial
Vehicles (UAVs). Even though the problem has been well studied for fixed and rotatory-wing vehicles, there are
far fewer works exploring it for flapping-wing UAVs, like ornithopters. These are of interest for many applica-
tions where long-flight endurance, but also hovering capabilities, are required. We propose an efficient approach
to plan ornithopter trajectories that minimize energy consumption by combining gliding and flapping maneu-
vers. Our algorithm builds a tree of dynamically feasible trajectories and it applies heuristic search for efficient
online planning, using reference curves to guide the search and prune states. We present computational ex-
periments to analyze and tune the key parameters, as well as a comparison against a recent alternative proba-
bilistic planner, showing best performance. Finally, we demonstrate how our algorithm can be used for planning
perching maneuvers online | es |
dc.description.sponsorship | Horizonte 2020 734922 | es |
dc.description.sponsorship | Ministerio de Economía y Competitividad de España MTM2016-76272-R AEI | es |
dc.description.sponsorship | Horizonte 2020 734922 | es |
dc.format | application/pdf | es |
dc.format.extent | 13 p. | es |
dc.language.iso | eng | es |
dc.publisher | Elsevier Ltd | es |
dc.relation.ispartof | Computers and Industrial Engineering, 163, Article number 107814. | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Trayectory optimization | es |
dc.subject | Ornithopter | es |
dc.subject | Motion planning | es |
dc.subject | Nonlinear dynamics | es |
dc.title | Kinodynamic planning for an energy-efficient autonomous ornithopter | es |
dc.type | info:eu-repo/semantics/article | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/acceptedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Matemática Aplicada II (ETSI) | es |
dc.relation.projectID | 734922 | es |
dc.relation.projectID | MTM2016-76272-R AEI | es |
dc.date.embargoEndDate | 2023-10 | |
dc.relation.publisherversion | https://www.sciencedirect.com/science/article/pii/S036083522100718X | es |
dc.identifier.doi | 10.1016/j.cie.2021.107814 | es |
dc.journaltitle | Computers and Industrial Engineering | es |
dc.publication.volumen | 163 | es |
dc.publication.initialPage | Article number 107814 | es |