Article
Kinodynamic planning for an energy-efficient autonomous ornithopter
Author/s | Rodríguez, Fabio
Díaz Báñez, José Miguel Sánchez-Laulhé, Ernesto Capitán Fernández, Jesús Ollero Baturone, Aníbal |
Department | Universidad de Sevilla. Departamento de Matemática Aplicada II (ETSI) |
Publication Date | 2022 |
Deposit Date | 2022-09-23 |
Published in |
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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 ... 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 |
Project ID. | 734922
MTM2016-76272-R AEI |
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. |
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