Hexarotor using A*algorithm pathfinding

• Main Author: Ho, Don Shusheng
• Other Authors: Wang Jianliang
• Format: Final Year Project
• Language: English
• Published: 2015
• Subjects: DRNTU::Engineering::Electrical and electronic engineering
• Online Access: http://hdl.handle.net/10356/64163
• Institution: Nanyang Technological University

For a Hexarotor to complete a course from start to end point, apart from proper calibrations needed for the rotor, it requires an algorithm to plot its waypoints. Therefore a path finding algorithm is needed to compute the shortest path the Hexarotor can complete in the fastest time. In this project, a Hexarotor is to fly and navigate autonomously in a selected and controlled environment with obstacles. Consequently, the environment has to be represented in an algorithmic form to be processed. The Hexarotor will fly at a fixed attitude in the x-y plane with respect to the ground while navigating from start to the destination. The path finding algorithm has to consider limitations with regards to changes in velocity and orientation of the Hexarotor and also obstacles in the environment. Hence it is important for the path finding algorithm to be effective in finding the optimal path, shortest path in the fastest time, for Hexarotor to complete the course.