Title :
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
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;
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
DOI :
10.1109/ISMA.2008.4648836