This paper proposes a path planning algorithm based on rapidly-exploring random trees (RRTs) for fixed-wing unmanned aerial vehicles (UAVs). The algorithm uses a pre-defined motion primitive set to extend the tree, and can be designed to reflect the dynamic capability of a target aircraft. The proposed method produces collision-free, dynamically feasible, and smooth curves. Furthermore, the algorithm can determine the approach direction of each initial and goal position and the arrival time at the goal position by generating an inertial speed command. Estimated dynamic information, including roll, heading, required thrust, and aerodynamic force are also output. The algorithm is validated by performing several simulations and comparing its performance with the response of a nonlinear six-degrees-of-freedom simulation. The results show that this algorithm can be successfully applied to fixed-wing UAV applications.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    RRT-based path planning for fixed-wing UAVs with arrival time and approach direction constraints


    Contributors:


    Publication date :

    2014-05-01


    Size :

    4348492 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English





    Energy-Aware Path Planning for Fixed-Wing Seaplane UAVs

    Wolsieffer, Ben / Quattrini Li, Alberto | Springer Verlag | 2024


    UAV Path Planning for Surveillance Applications: Rotary-Wing vs. Fixed-Wing UAVs

    Jafari, B. / Saeedi, H. / Pishro-Nik, H. | IEEE | 2024


    Path Planning Based on Improved MPC for Fixed Wing UAVs with Collision Avoidance

    Su, Meimei / Liu, Huixia / Hu, Jinwen et al. | British Library Conference Proceedings | 2022