Trajectory generation for a fixed-wing UAV by the potential field method

In this work we propose an online 3D trajectory generation based Artificial Potential Field method (APF) for fixed-wing UAVs. The proposed approach uses a simplified dynamic model in order to ensure the feasibility of the generated trajectory by the real UAV. Simulations show the feasibility of the approach in the cases of waypoints navigation in both free environment and obstructed environment.