Kinodynamic planning for an energy-efficient autonomous ornithopter

Fabio Rodríguez, José Miguel Díaz-Báñez, Ernesto Sanchez-Laulhe, Jesús Capitán, Aníbal Ollero

Abstract: Highlights•OSPA, a new kinodynamic trajectory planning algorithm for ornithopters, is proposed.•Our algorithm builds a tree of dynamically feasible trajectories.•A reference curve to guide the search and prune states is used.•OSPA computes energy-efficient trajectories combining gliding and flapping maneuvers.•We showed that OSPA outperforms alternative probabilistic kinodynamic planners.