Next Article in Journal
Enabling Large-Scale IoT-Based Services through Elastic Publish/Subscribe
Next Article in Special Issue
Uncooled Thermal Camera Calibration and Optimization of the Photogrammetry Process for UAV Applications in Agriculture
Previous Article in Journal
A Generic Compliance Modeling Method for Two-Axis Elliptical-Arc-Filleted Flexure Hinges
Previous Article in Special Issue
Spatial Scale Gap Filling Using an Unmanned Aerial System: A Statistical Downscaling Method for Applications in Precision Agriculture
Article Menu
Issue 9 (September) cover image

Export Article

Open AccessArticle
Sensors 2017, 17(9), 2155; https://doi.org/10.3390/s17092155

Curvature Continuous and Bounded Path Planning for Fixed-Wing UAVs

1,†
,
2,†
,
1,3,†,* and 1
1
Electronic Information School, Wuhan University, Wuhan 430072, China
2
GNSS Research Center, Wuhan University, Wuhan 430072, China
3
Collaborative Innovation Center of Geospatial Technology, 129 Luoyu Road, Wuhan 430072, China
These authors contributed equally to this work.
*
Author to whom correspondence should be addressed.
Received: 6 August 2017 / Revised: 3 September 2017 / Accepted: 14 September 2017 / Published: 19 September 2017
(This article belongs to the Special Issue UAV or Drones for Remote Sensing Applications)
Full-Text   |   PDF [13249 KB, uploaded 20 September 2017]   |  

Abstract

Unmanned Aerial Vehicles (UAVs) play an important role in applications such as data collection and target reconnaissance. An accurate and optimal path can effectively increase the mission success rate in the case of small UAVs. Although path planning for UAVs is similar to that for traditional mobile robots, the special kinematic characteristics of UAVs (such as their minimum turning radius) have not been taken into account in previous studies. In this paper, we propose a locally-adjustable, continuous-curvature, bounded path-planning algorithm for fixed-wing UAVs. To deal with the curvature discontinuity problem, an optimal interpolation algorithm and a key-point shift algorithm are proposed based on the derivation of a curvature continuity condition. To meet the upper bound for curvature and to render the curvature extrema controllable, a local replanning scheme is designed by combining arcs and Bezier curves with monotonic curvature. In particular, a path transition mechanism is built for the replanning phase using minimum curvature circles for a planning philosophy. Numerical results demonstrate that the analytical planning algorithm can effectively generate continuous-curvature paths, while satisfying the curvature upper bound constraint and allowing UAVs to pass through all predefined waypoints in the desired mission region. View Full-Text
Keywords: Catmull-Rom curves; continuous-curvature; curvature upper bound; local regulation; path planning; unmanned aerial vehicles Catmull-Rom curves; continuous-curvature; curvature upper bound; local regulation; path planning; unmanned aerial vehicles
Figures

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
SciFeed

Share & Cite This Article

MDPI and ACS Style

Wang, X.; Jiang, P.; Li, D.; Sun, T. Curvature Continuous and Bounded Path Planning for Fixed-Wing UAVs. Sensors 2017, 17, 2155.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top