Control and path planning of quadrotor aerial vehicles for search and rescue
Control and path planning of quadrotor aerial vehicles for search and rescue
复制标题
用于搜救的四旋翼飞行器的控制和路径规划
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
T. N. Kumar
中科院分区：
文献类型：
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作者：
Haider A. F. Almurib;Premeela T. Nathan;T. N. Kumar
本文论述了使用四旋翼的搜索和救援。运动学和动力学分析应用于任务的控制和操纵的四旋翼。在第一阶段，初始静态路径规划采用Dijkstra算法，飞行模式动态路径规划采用虚拟势函数算法。到达目标后，第二阶段从分散控制切换到集中控制，在群内形成编队，允许以救援物资和目标跟踪的形式提升额外的有效载荷。
This paper addresses search and rescue using quad-rotors. The kinematic and dynamic analysis is applied to the task of controlling and maneuvering the quad-rotor. In stage one, initial static path planning using Dijkstra algorithm and flight mode dynamic path planning is applied with Virtual Potential Function algorithm. Upon reaching target, stage two switches from decentralized control to centralized control creating formations within swarms allowing lift of additional payload in the form of rescue supplies and target tracking.