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Real-time continuous curvature path planning of UAVS in cluttered environments

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2 Author(s)
Kwangjin Yang ; ARC Centre of Excellence for Autonomous Sysems, Sydney Univ., Sydney, NSW ; Sukkarieh, S.

This paper presents a method for curvature continuous (G2 continuous) path generation for a UAV flying in a cluttered environment in real-time. First we generate a collision free path using a rapidly-exploring random tree (RRT). However a UAV cannot fly this path since it consists of piecewise linear segments. G2 continuous path algorithm using cubic Bezier spiral curves is presented in this paper. Simulation results show the superiority of cubic Bezier spiral curves to Dubins path and C1 continuous cubic Bezier curves.

Published in:

Mechatronics and Its Applications, 2008. ISMA 2008. 5th International Symposium on

Date of Conference:

27-29 May 2008