UAV flight path planning in time varying complex wind-fields

This paper addresses the problem of path planning for a small UAV operating in a complex four dimensional (time and spatially varying) environment. A kinematic tree path planner that explicitly accounts for time is presented. This kinematic planner is shown to be resolution complete through comparison with the RC-RRT, and simulation results demonstrating planning in a complex time- and spatially-varying wind field are presented. The simulation considers an unpowered (i.e. gliding) aircraft, hence exploitation of vertical components of wind is critical for feasibility of flights to the goal.