Authors:
Amir Sharif
;
H. M. Lahiru
;
S. Herath
and
Hubert Roth
Affiliation:
Department of Control Engineering, University of Siegen and Germany
Keyword(s):
HyFDR (Hybrid Fly-Drive Robot), A* Algorithm, Ground Nodes, Autonomous Navigation, Aerial Nodes.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Intelligent Transportation Technologies and Systems
;
Mechatronics Systems
;
Mobile Robots and Autonomous Systems
;
Robotics and Automation
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.