This paper presents continuous curvature paths for unmanned vehicles such as robots and unmanned aerial vehicles. The importance of these paths is that both upper-bounded curvature and upper-bounded curvature derivatives are included in the path. The approach is based on replacement of the Dubins line with the quintic PH Bezier curves by computing a shape parameter by considering the kinematic constraints of the path. Since these paths are Dubins-based paths, their lengths are close to the minimum length. The effectiveness and sub-optimality of the proposed paths are demonstrated through fully nonlinear simulation.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A new approach in UAV path planning using Bezier-Dubins continuous curvature path




    Erscheinungsdatum :

    2016




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch



    Klassifikation :

    BKL:    55.50 Luftfahrzeugtechnik / 55.60 Raumfahrttechnik
    Lokalklassifikation TIB:    275/7040




    A new approach in UAV path planning using Bezier–Dubins continuous curvature path

    Askari, A / Mortazavi, M / Talebi, HA et al. | SAGE Publications | 2016


    Path Planning of Multiple UAVs Using Dubins Sets

    Shanmugavel, Madhavan / Tsourdos, Antonios / Zbikowski, Rafal et al. | AIAA | 2005


    Path planning algorithm for small UAV based on dubins path

    Yang, Chaojie / Liu, Lifen / Wu, Jiang | IEEE | 2016


    Efficient Path Planning for UAV Formation Using Dubins Paths

    Gao, Jiazhan / Kuang, Minchi / Shi, Heng et al. | Springer Verlag | 2025