Abstract:
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 collis...Show MoreMetadata
Abstract:
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.
Date of Conference: 27-29 May 2008
Date Added to IEEE Xplore: 14 October 2008
ISBN Information:
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- Index Terms
- Path Planning ,
- Continuous Curve ,
- Continuous Path ,
- Cluttered Environments ,
- Unmanned Aerial Vehicles ,
- Bezier Curve ,
- Collision-free Path ,
- Rapidly-exploring Random Tree ,
- Degrees Of Freedom ,
- Rest Of The Paper ,
- End Point ,
- Unit Vector ,
- Control Input ,
- Cubic Spline ,
- Control Points ,
- Position Error ,
- Line Segment ,
- Convex Hull ,
- State-space Model ,
- Smooth Curve ,
- Path Curvature ,
- Civilian Applications ,
- Planning Time ,
- Smooth Path ,
- Connection Point ,
- Cubic Spline Interpolation ,
- Spline Interpolation ,
- Sharp Change ,
- Actuator ,
- Shortest Path
Contents Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- Index Terms
- Path Planning ,
- Continuous Curve ,
- Continuous Path ,
- Cluttered Environments ,
- Unmanned Aerial Vehicles ,
- Bezier Curve ,
- Collision-free Path ,
- Rapidly-exploring Random Tree ,
- Degrees Of Freedom ,
- Rest Of The Paper ,
- End Point ,
- Unit Vector ,
- Control Input ,
- Cubic Spline ,
- Control Points ,
- Position Error ,
- Line Segment ,
- Convex Hull ,
- State-space Model ,
- Smooth Curve ,
- Path Curvature ,
- Civilian Applications ,
- Planning Time ,
- Smooth Path ,
- Connection Point ,
- Cubic Spline Interpolation ,
- Spline Interpolation ,
- Sharp Change ,
- Actuator ,
- Shortest Path
