Trajectory planning for hybrid unmanned aerial underwater vehicles with smooth media transition

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dc.creatorPedro Pinheiro
dc.creatorArmando Alves Neto
dc.creatorRicardo B. Grando
dc.creatorCésar Bastos da Silva
dc.creatorVivian Misaki Aoki
dc.creatorDayana S. Cardoso
dc.creatorAlexandre de Campos Horn
dc.creatorPaulo Lilles Jorge Drews Junior
dc.date.accessioned2025-06-23T13:48:46Z
dc.date.accessioned2025-09-08T23:31:42Z
dc.date.available2025-06-23T13:48:46Z
dc.date.issued2022
dc.identifier.doi10.1007/s10846-021-01567-z
dc.identifier.issn09210296
dc.identifier.urihttps://hdl.handle.net/1843/83040
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofJournal of Intelligent & Robotic Systems
dc.rightsAcesso Restrito
dc.subjectAeronave não tripulada
dc.subject.otherAerial robotics
dc.subject.otherUnderwater robotics
dc.subject.otherPath planning
dc.subject.otherTrajectory planning, Motion control, Hybrid vehicles, Media transition
dc.titleTrajectory planning for hybrid unmanned aerial underwater vehicles with smooth media transition
dc.typeArtigo de periódico
local.citation.spage46
local.citation.volume104
local.description.resumoIn the last decade, a great effort has been employed in the study of Hybrid Unmanned Aerial Underwater Vehicles, robots that can easily fly and dive into the water with different levels of mechanical adaptation. However, most of this literature is concentrated on physical design, practical issues of construction, and, more recently, low-level control strategies. Little has been done in the context of high-level intelligence, such as motion planning and interactions with the real world. Therefore, we proposed in this paper a trajectory planning approach that allows collision avoidance against unknown obstacles and smooth transitions between aerial and aquatic media. Our method is based on a variant of the classic Rapidly-exploring Random Tree, whose main advantages are the capability to deal with obstacles, complex nonlinear dynamics, model uncertainties, and external disturbances. The approach uses the dynamic model of the HyDrone, a hybrid vehicle proposed with high underwater performance, but we believe it can be easily generalized to other types of aerial/aquatic platforms. In the experimental section, we present simulated results in environments filled with obstacles, where the robot is commanded to perform different media movements, demonstrating the applicability of our strategy.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://link.springer.com/article/10.1007/s10846-021-01567-z

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