Energy Efficient Path Planning of Hybrid Fly-Drive Robot (HyFDR) using A* Algorithm

Amir Sharif, H. M. Lahiru, S. Herath, Hubert Roth

Abstract

Hovering flight is agile and energy expansive, but driving on ground is slow and energy efficient method of locomotion. To get the benefits of these two methods of locomotion, we combined them in a single platform named as HyFDR. It is a Quadcopter with powered wheels, it can fly in air and drive on ground. Autonomous navigation of HyFDR creates new challenges in the field of path planning. The goal is to simulate the navigation of HyFDR with minimum energy consumption using A* algorithm. Depending upon the terrain, obstacles, energy constraints, and desired flight time, HyFDR can autonomously switch between flight mode, drive mode and hybrid mode. We showed that in some cases HyFDR is energy efficient than Quadcopter.

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Paper Citation


in Harvard Style

Roth H. (2018). Energy Efficient Path Planning of Hybrid Fly-Drive Robot (HyFDR) using A* Algorithm.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 201-210. DOI: 10.5220/0006912602010210


in Bibtex Style

@conference{icinco18,
author={Hubert Roth},
title={Energy Efficient Path Planning of Hybrid Fly-Drive Robot (HyFDR) using A* Algorithm},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={201-210},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006912602010210},
isbn={978-989-758-321-6},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Energy Efficient Path Planning of Hybrid Fly-Drive Robot (HyFDR) using A* Algorithm
SN - 978-989-758-321-6
AU - Roth H.
PY - 2018
SP - 201
EP - 210
DO - 10.5220/0006912602010210