Hybrid graph-clothoid based path planning for a fixed wing aircraft

Hybrid graph-clothoid based path planning for a fixed wing aircraft

Luciano Blasi, Egidio D’Amato, Immacolata Notaro, Gennaro Raspaolo

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Abstract. Planning of safe and efficient trajectories is a critical task in the operation of unmanned aerial vehicles (UAVs), especially in urban or complex environments. With the increasing use of UAVs for various applications, such as surveillance, delivery, and inspection, it is becoming more important to automatically generate collision-free paths that also consider aircraft dynamics. This paper proposes an algorithmic approach based on the Rapidly exploring random tree (RRT) algorithm combined with a clothoid-based smoothing procedure to account for aircraft performance.

Path Planning, Clothoids, RRT, UAVs

Published online 11/1/2023, 4 pages
Copyright © 2023 by the author(s)
Published under license by Materials Research Forum LLC., Millersville PA, USA

Citation: Luciano Blasi, Egidio D’Amato, Immacolata Notaro, Gennaro Raspaolo, Hybrid graph-clothoid based path planning for a fixed wing aircraft, Materials Research Proceedings, Vol. 37, pp 104-107, 2023

DOI: https://doi.org/10.21741/9781644902813-23

The article was published as article 23 of the book Aeronautics and Astronautics

Content from this work may be used under the terms of the Creative Commons Attribution 3.0 license. Any further distribution of this work must maintain attribution to the author(s) and the title of the work, journal citation and DOI.

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