Flight path planning for unmanned aerial vehicles with landmark-based visual navigation

  title={Flight path planning for unmanned aerial vehicles with landmark-based visual navigation},
  author={Luitpold Babel},
  journal={Robotics and Autonomous Systems},
In this paper we present an algorithm to determine a shortest trajectory of a fixed-wing UAV in scenarios with no-fly areas. The innovative feature is that not only the kinematic and dynamic properties, but also the navigational capabilities of the air vehicle are taken into account. We consider a UAV with landmarkbased visual navigation, a technique which can cope with long-term GPS outages. A navigation update is obtained by matching onboard images of selected landmarks with internally stored… CONTINUE READING


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