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:: year 16, Issue 1 (Spring & Summer 2014, Vol. 16, No. 1 2014) ::
JoAE 2014, 16(1): 49-64 Back to browse issues page
Continuous Curvature Trajectory Planning Based on Dubins Path and Bézier Curve for UAVs
Abstract:   (772 Views)
The purpose of this article is to develop a fast algorithm applicable in trajectory planning for UAVs. The proposed new algorithm plans a smooth path with continuous curvature through the predefined waypoints in 2-D space. This algorithm forms a G^2 continuous trajectory Dubins-based path that replaces the Dubins line with Bézier curve with length close to an optimum. Continuous curvature property in this new trajectory, unlike the Dubins path, prevents the sudden change in lateral acceleration in an airplane that is tracking this trajectory. Obtained algorithm is based on analytical solutions so it could have real time applications and hence, it could be capable of re-planning the trajectory during flight for the guidance of UAVs in any kind of mission.
Keywords: Smooth Path Planning, Bézier Curve, Dubins Path, Continuous Curvature Trajectory
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Type of Study: Research |
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Continuous Curvature Trajectory Planning Based on Dubins Path and Bézier Curve for UAVs . JoAE. 2014; 16 (1) :49-64
URL: http://joae.ir/article-1-98-en.html


year 16, Issue 1 (Spring & Summer 2014, Vol. 16, No. 1 2014) Back to browse issues page
نشریه علمی - پژوهشی مهندسی هوانوردی Journal of Aeronautical Engineering
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