An Approximation Path Planning Algorithm for Fixed-wing UAVs in Stationary Obstacle Environment

摘要：

　　In this paper,we study the curvature-constrained path planning problem for fixed-wing UAVs in stationary obstacle environment.We first use enclosing circles to redefine the polygonal obstacles,thus incorporating curvature constraint into the path planning algorithm.It is proved in this paper that the curvature-constrained path planning problem in the presence of stationary circular obstacles is NP-complete.To reduce the computational complexity of the path planning problem,a novel approximation planning scheme based on Dubins path is proposed.In the scheme,incremental planning strategy and orientation angle discretization method are used to compute the flyable Dubins trajectory set between the two given points.Compared with the existing algorithms,the proposed algorithm performs well in numerical experiments and computational cost is relatively low.

关键词： UAV curvature constraint Dubins trajectory path planning

作者: WANG Zhong LI Yan LI Wenchao

作者单位: Northwestern Polytechnical University,Shaanxi,Xian 710129,P.R.China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 664-669

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）