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Control and Dynamic Motion Planning for a Hybrid Air-Underwater Quadrotor: Minimizing Energy Use in a Flooded Cave Environment
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We present a dynamic path planning algorithm to navigate an amphibious rotor craft through a concave time-invariant obstacle field while attempting to minimize energy usage. We create a nonlinear quaternion state model that represents the rotor craft dynamics above and below the water. The 6 degree of freedom dynamics used within a layered architecture to generate motion paths for the vehicle to follow and the required control inputs. The rotor craft has a 3 dimensional map of its surroundings that is updated via limited range onboard sensor readings within the current medium (air or water). Path planning is done via PRM and D* Lite.
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AAM-SEALS: Developing Aerial-Aquatic Manipulators in SEa, Air, and Land Simulator
A simulator integrates particle-based water, aerial flight, manipulation, and animal models to train aerial-aquatic robots across air and water.
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