This paper describes a path planning algorithm for fixed-wing UAV flights that follow the local terrain. The proposed algorithm utilizes a spline-RRT∗ planner in which the tree structure is extended using a spline method to generate smooth paths without any post-processing. In addition, a cost function ensures paths are sufficiently far from several hazardous positions and close to the surface of the local terrain. Therefore, the resulting paths are geometrically and dynamically feasible for terrain following flights, and are asymptotically optimal. A series of simulations demonstrates the successful utilization of the algorithm in a path planning application for terrain following flights for fixed-wing UAVs.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Spline-RRT∗ based optimal path planning of terrain following flights for fixed-wing UAVs


    Contributors:


    Publication date :

    2014-11-01


    Size :

    2870543 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Terrain-based landing site selection and path planning for fixed-wing UAVs

    Garg, Mayank / Kumar, Abhishek / Sujit, P.B. | IEEE | 2015


    Vision-based Cooperative Moving Path Following for Fixed-Wing UAVs

    Felix, Miguel / Oliveira, Tiago / Cruz, Goncalo et al. | IEEE | 2023


    Energy-Aware Path Planning for Fixed-Wing Seaplane UAVs

    Wolsieffer, Ben / Quattrini Li, Alberto | Springer Verlag | 2024


    UAV Path Planning for Surveillance Applications: Rotary-Wing vs. Fixed-Wing UAVs

    Jafari, B. / Saeedi, H. / Pishro-Nik, H. | IEEE | 2024


    Path-Following Control of Small Fixed-Wing UAVs under Wind Disturbance

    Pengyun Chen / Guobing Zhang / Jiacheng Li et al. | DOAJ | 2023

    Free access