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

被引：31
|
作者：
Askari, A. [1 ]
Mortazavi, M. [1 ]
Talebi, H. A. [2 ]
Motamedi, A. [3 ]
机构：
[1] Amirkabir Univ Technol, Dept Aerosp Engn, Hafez Ave POB 15875-4413, Tehran, Iran
[2] Amirkabir Univ Technol, Dept Elect Engn, Tehran, Iran
[3] KN Toosi Univ Technol, Dept Aerosp Engn, Tehran, Iran
来源：
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING | 2016年 / 230卷 / 06期
关键词：
Path planning; unmanned aerial vehicle; continuous curvature path; Dubins path; Bezier curve; IN-FLIGHT WAYPOINTS; 2; CIRCLES; SHAPE CONTROL; TRANSITION; CURVE; VEHICLES; CAR;
D O I：
10.1177/0954410015603415
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
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.
引用
收藏
页码：1103 / 1113
页数：11
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