3D offline path planning for a surveillance aerial vehicle using B-splines

Abstract

This paper presents an offline path planning method in 3D space for a surveillance aerial vehicle. In this method, the aerial vehicle is supposed to visit particular points on the path, and the collision between the vehicle and the fixed obstacles in the environment must be avoided. In order to accomplish the mission, first, the path is generated using B-splines. Then, the feasibility of tracking the designed path for the vehicle is considered by analyzing the vehicle's dynamic constraints, such as limitations on deflections of control surfaces. The analysis is supported by a simulation. Potential extension of the proposed analysis to multiple aerial vehicles has been also discussed at the end of this paper.

Reservation-Based 3D Intersection Traffic Control System for Autonomous Unmanned Aerial Vehicles

“…Dubins curve provides the fastest and shortest path for non-holonomic vehicles. In [19,20], Pythagorean hodograph curve is used while B-spline curve is used in [21][22][23][24], and Bezier curve is used in [25] to consider the minimum curvature, minimum torsion, and maximum climb angle of the UAV.…”

“…For the parameters of the Genetic Algorithm, the GA population size is 100, i.e., a total of 100 chromosomes (sequences of UAVs) are evaluated per generation. The chromosomes are evaluated using the objective function in Equation (21). From the population, the top 50% are selected as the parent chromosomes.…”