3D path planning for small UAS operating in low-altitude airspace

A two step path planning algorithm with collision detection logic for small UAS is proposed. The path planning approach taken in this work is carried out in two steps. In the first step, an initial suboptimal path is generated using A* search. In the second step, a chain of unit masses connected by springs and dampers evolves in a simulated force field, using the A* solution as an initial condition. The chain is described by a set of ordinary differential equations that is driven by virtual forces to find the steady-state equilibrium. A unique strength of this approach is the ability to use dynamic chain analogy to smooth path into a fiyable shape while mainlining a safe distance from intruders. The simulation results show that the proposed approach produces collision-free plans while minimizing the path length.