Smooth 3D path planning for non-holonomic UAVs

被引：0

作者：

Vanegas, Gloria ^{[1
]}

Samaniego, Franklin ^{[2
]}

Girbes, Vicent ^{[1
]}

Armesto, Leopoldo ^{[1
]}

Garcia-Nieto, Sergio ^{[2
]}

机构：

[1] Univ Politecn Valencia, IDF, C Camino Vera S-N, E-46022 Valencia, Spain

[2] Univ Politecn Valencia, Inst Univ Automat Informat Ind AI2, C Camino Vera S-N, E-46022 Valencia, Spain

来源：

2018 7TH INTERNATIONAL CONFERENCE ON SYSTEMS AND CONTROL (ICSC) | 2018年

关键词：

3D Clothoids; Euler Spirals; Rational Bezier; Smooth curves; Path Generation; UAV; Flying Vehicles; APPROXIMATION; CLOTHOIDS; SPIRALS; CURVES;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a path planning approach for Unmanned Aerial Vehicles (UAVs) with non-holonomic constraints, such as fixed-wing airplanes. The control scheme is divided in two stages: local planner and kinematic control. In the planning stage, a smooth curve is generated in 3D Euclidean space, using 3D clothoids approximated by Rational Bezier curves. Then, in a second stage, the autonomous flying vehicle is piloted to track references of velocity and orientation. Real flight simulation tests have been carried out to observe the behaviour of the UAV when following 3D clothoids, in order to analyze the properties and benefits of using such smooth curves for path planning of fixed-wing planes.

引用

页码：1 / 6

页数：6

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