Real-time continuous curvature path planning of UAVS in cluttered environments

Author

Yang, Kwangjin ; Sukkarieh, Salah

Author_Institution

ARC Centre of Excellence for Autonomous Sysems, Sydney Univ., Sydney, NSW

fYear

2008

fDate

27-29 May 2008

Firstpage

1

Lastpage

6

Abstract

This paper presents a method for curvature continuous (G² continuous) path generation for a UAV flying in a cluttered environment in real-time. First we generate a collision free path using a rapidly-exploring random tree (RRT). However a UAV cannot fly this path since it consists of piecewise linear segments. G² continuous path algorithm using cubic Bezier spiral curves is presented in this paper. Simulation results show the superiority of cubic Bezier spiral curves to Dubins path and C¹ continuous cubic Bezier curves.

Keywords

clutter; collision avoidance; curve fitting; military aircraft; mobile robots; piecewise linear techniques; random processes; remotely operated vehicles; trees (mathematics); G² continuous path algorithm; cluttered environment; collision free path; cubic Bezier spiral curve; piecewise linear segmentation; rapidly-exploring random tree; real-time continuous curvature path planning; unmanned aerial vehicle; Australia; Mechatronics; Mobile robots; Motion control; Open loop systems; Path planning; Remotely operated vehicles; Spirals; Unmanned aerial vehicles; Vehicle detection;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Its Applications, 2008. ISMA 2008. 5th International Symposium on

Conference_Location

Amman

Print_ISBN

978-1-4244-2033-9

Electronic_ISBN

978-1-4244-2034-6

Type

conf

DOI

10.1109/ISMA.2008.4648836

Filename

4648836