Curvature Continuous and Bounded Path Planning for Fixed-Wing UAVs.

Area of Science:

• Robotics and Control Systems
• Aerospace Engineering
• Computational Geometry

Background:

• Unmanned Aerial Vehicles (UAVs) are crucial for data collection and reconnaissance.
• Optimal path planning is vital for mission success, especially for small UAVs.
• Existing path planning methods often neglect UAV-specific kinematic constraints like minimum turning radius.

Purpose of the Study:

• To propose a novel path-planning algorithm for fixed-wing UAVs.
• To address the limitations of previous methods by incorporating UAV kinematic characteristics.
• To ensure continuous curvature and bounded paths for improved UAV navigation.

Main Methods:

• Development of a locally-adjustable, continuous-curvature, bounded path-planning algorithm.
• Implementation of an optimal interpolation and key-point shift algorithm to ensure curvature continuity.
• Design of a local replanning scheme using arcs and Bezier curves with monotonic curvature, incorporating a minimum curvature circle transition mechanism.

Main Results:

• The proposed algorithm effectively generates continuous-curvature paths for UAVs.
• The algorithm successfully satisfies the upper bound curvature constraint.
• The planning algorithm enables UAVs to navigate through all predefined waypoints within the mission region.

Conclusions:

• The developed analytical planning algorithm provides an effective solution for fixed-wing UAV path planning.
• The method accounts for critical kinematic constraints, leading to more feasible and efficient flight paths.
• This approach enhances the reliability and success rate of UAV missions requiring precise navigation.