飛行ロボットの誘導制御における複雑な経路ベクトル場生成法の提案と特異点処理および障害物回避の実現

抄録

This paper presents a simple and practical approach for generating a complex path vector field to guide and control flying robots. The proposed approach is based on the idea of generating guidance vectors of flying robots from a given path. A key feature is to easily and intuitively generate guidance vectors that effectively avoid singularities and obstacles on the path. The effectiveness of the approach is demonstrated using a powered paraglider simulator that accurately represents complex 3D dynamics.