Smooth Path Planning for Unmanned Aerial Vehicles with Airspace Restrictions

Upadhyay, Saurabh and Ratnoo, Ashwini (2017) Smooth Path Planning for Unmanned Aerial Vehicles with Airspace Restrictions. In: JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 40 (7). pp. 1596-1612.

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Abstract

The problem of generating smooth paths in a bounded airspace having arbitrarily shaped flight-restricted zones and obstacles is considered. Paths derived from four-parameter logistic curves are investigated as a prospective solution. Flight-restricted areas and obstacles are represented by convex polygons, and simple analytic conditions are derived for avoiding them. A design parameter space approach is used to generate multiple feasible paths between a given set of waypoints with zero end curvature. The proposed methodology offers continuous upper curvature bounded paths, which are desirable for the bank angle limitation of unmanned aerial vehicles. A comparison with existing path-planning methods highlights the advantages in terms of inherent curvature continuity as well as analytic conditions for obstacle avoidance and confinement. Scenarios with multiple obstacles and waypoints are considered, and the solutions are validated on a realistic six-degree-of-freedom model of the Aerosonde unmanned aerial vehicle. The methodology offers a simple and analytic path-planning methodology for generating easily computable multiple feasible paths satisfying the noted constraints.

Item Type:	Journal Article
Publication:	JOURNAL OF GUIDANCE CONTROL AND DYNAMICS
Additional Information:	Copyright for this article belong to the AMER INST AERONAUTICS ASTRONAUTICS, 1801 ALEXANDER BELL DRIVE, STE 500, RESTON, VA 22091-4344 USA
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	07 Jul 2017 06:37
Last Modified:	07 Jul 2017 06:37
URI:	http://eprints.iisc.ac.in/id/eprint/57312

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