Hybrid path planner for a hexacopter in 3D uncertain environment

The article presents development and analysis of hybrid path planning systems for vehicles. Two types of planner structures were defined. In the first type of systems several basic path planning methods operate together. In the systems of the second type parameters and initial data of one basic method are modified by additional algorithms. We developed a controller that solves positioning and path-following problems with a high accuracy. A hybrid path-planning system is developed for a hexacopter based on the virtual fields method in the class of hybrid systems of the second type. In the synthesized system a special algorithm of sensor data analysis modifies the initial data to use the virtual fields method.