CONTINUOUS CURVATURE TRAJECTORY PLANNING BASED ON DUBINS PATH AND BEZIER CURVE FOR UAVS

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MOTAMEDI ALI; MORTAZAVI MAHDI; ROSHANIAN JAFAR; BABAEI ALI REZA

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Paper Information

Journal: JOURNAL OF AERONAUTICAL ENGINEERING (JOAE) Year:2014 | Volume:16 | Issue:1 Page(s): 49-64

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Title

CONTINUOUS CURVATURE TRAJECTORY PLANNING BASED ON DUBINS PATH AND BEZIER CURVE FOR UAVS

Author(s)

MOTAMEDI ALI | MORTAZAVI MAHDI | ROSHANIAN JAFAR | BABAEI ALI REZA | Issue Writer Certificate

Keywords

SMOOTH PATH PLANNINGQ2

BEZIER CURVEQ2

DUBINS PATHQ2

CONTINUOUS CURVATURE TRAJECTORYQ2

Abstract

The purpose of this article is to develop a fast algorithm applicable in trajectory planning for UAVs. The proposed new algorithm plans a smooth path with continuous curvature through the predefined waypoints in 2-D space. This algorithm forms a G2 continuous trajectory Dubins-based path that replaces the Dubins line with BEZIER CURVE with length close to an optimum. Continuous curvature property in this new trajectory, unlike the DUBINS PATH, prevents the sudden change in lateral acceleration in an airplane that is tracking this trajectory. Obtained algorithm is based on analytical solutions so it could have real time applications and hence, it could be capable of re-planning the trajectory during flight for the guidance of UAVs in any kind of mission.

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APA: Copy

MOTAMEDI, ALI, MORTAZAVI, MAHDI, ROSHANIAN, JAFAR, & BABAEI, ALI REZA. (2014). CONTINUOUS CURVATURE TRAJECTORY PLANNING BASED ON DUBINS PATH AND BEZIER CURVE FOR UAVS. JOURNAL OF AERONAUTICAL ENGINEERING (JOAE), 16(1), 49-64. SID. https://sid.ir/paper/173124/en

Vancouver: Copy

MOTAMEDI ALI, MORTAZAVI MAHDI, ROSHANIAN JAFAR, BABAEI ALI REZA. CONTINUOUS CURVATURE TRAJECTORY PLANNING BASED ON DUBINS PATH AND BEZIER CURVE FOR UAVS. JOURNAL OF AERONAUTICAL ENGINEERING (JOAE)[Internet]. 2014;16(1):49-64. Available from: https://sid.ir/paper/173124/en

IEEE: Copy

ALI MOTAMEDI, MAHDI MORTAZAVI, JAFAR ROSHANIAN, and ALI REZA BABAEI, “CONTINUOUS CURVATURE TRAJECTORY PLANNING BASED ON DUBINS PATH AND BEZIER CURVE FOR UAVS,” JOURNAL OF AERONAUTICAL ENGINEERING (JOAE), vol. 16, no. 1, pp. 49–64, 2014, [Online]. Available: https://sid.ir/paper/173124/en

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