In this paper, we present a real-time obstacle avoidance method for fixed-wing unmanned aerial vehicles (UAVs) in complex environment. The Rapidly-exploring Random Tree(RRT) algorithm is used in this method. In order to adapt the RRT algorithm on fixed-wing platforms, we make extensions on it. The algorithm demonstrates very good performance in trajectory planning for fixed-wing vehicles in three-dimensional environment and dynamic environment. We analyze the algorithm theoretically and provide simulation results. We also demonstrate our method on a fixed-wing vehicle flying over a runway with multiple obstacles. The application of this method will greatly improve the survival ability of fixed-wing vehicles in complex environment. It is significant in elevation of autonomous level of UAV.


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    Title :

    Real-time obstacle avoidance for fixed-wing vehicles in complex environment


    Contributors:
    Rong Ma (author) / Wen Ma (author) / Xiaolong Chen (author) / Jia Li (author)


    Publication date :

    2016-08-01


    Size :

    248534 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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