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.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

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


    Beteiligte:
    Askari, A (Autor:in) / Mortazavi, M (Autor:in) / Talebi, HA (Autor:in) / Motamedi, A (Autor:in)


    Erscheinungsdatum :

    01.05.2016


    Format / Umfang :

    11 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch






    Path Planning of Multiple UAVs Using Dubins Sets

    Shanmugavel, Madhavan / Tsourdos, Antonios / Zbikowski, Rafal et al. | AIAA | 2005


    Efficient Path Planning for UAV Formation Using Dubins Paths

    Gao, Jiazhan / Kuang, Minchi / Shi, Heng et al. | Springer Verlag | 2025


    Path planning algorithm for small UAV based on dubins path

    Yang, Chaojie / Liu, Lifen / Wu, Jiang | IEEE | 2016