Decision planning of a quadrotor in dynamical environment

This paper investigates the decision planning problem of a quadrotor in dynamical environment where there are moving target robots that are ready to be driven into an aim area by turn commands from the quadrotor. First, a model of the decision planning problem is formulated. Second, a searching base...

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Bibliographic Details
Published in2017 36th Chinese Control Conference (CCC) pp. 6744 - 6748
Main Authors Hualin He, Fenghua He, Changxi Li, Jie Ma
Format Conference Proceeding
LanguageEnglish
Published Technical Committee on Control Theory, CAA 01.07.2017
Subjects
Aerodynamics
Algorithm design and analysis
Decision
Heuristic algorithms
Planning
Power system dynamics
Pruning Function
Quadrotor
Rewards
Robot kinematics
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Summary:This paper investigates the decision planning problem of a quadrotor in dynamical environment where there are moving target robots that are ready to be driven into an aim area by turn commands from the quadrotor. First, a model of the decision planning problem is formulated. Second, a searching based planning algorithm is proposed for the quadrotor to determine when and where to command which target robot. A pruning function is designed in the proposed algorithm to guarantee that the obtained decision sequences are feasible. Guard conditions are set to avoid decision oscillation. Simulation results are provided to show the effectiveness of the proposed algorithm.
ISSN:2161-2927
DOI:10.23919/ChiCC.2017.8028421