| Title |
Path Planning Study Considering Multicopter Dynamics and Weighted Cost Function |
| Authors |
배재휴(Jaehyu Bae) ; 이영재(Young Jae Lee) ; 성상경(Sangkyung Sung) |
| DOI |
https://doi.org/10.5370/KIEE.2020.69.2.362 |
| Keywords |
Path planning; RRT-star; Multicopter; Energy consumption |
| Abstract |
This paper proposes path planning of multicopter. Path planning algorithms include turning radius limitations considering the maneuver of the multicopter and collision determination with obstacles. The turning radius of the multicopter was limited by using a simulator that reflects the dynamics of the multicopter, and the collision decision was determined by the occupancy of the cluster considering the size of the aircraft. In addition, this paper proposes a cost calculation method considering energy consumption and travel distance of multicopter. The algorithm was verified by performing path planning algorithms on virtual maps and maps obtained from actual experiments. |