Optimal path planning based on spline-RRT* for fixed-wing UAVs operating in three-dimensional environments

@article{Lee2014OptimalPP,
  title={Optimal path planning based on spline-RRT* for fixed-wing UAVs operating in three-dimensional environments},
  author={Dasol Lee and Hanjun Song and David Hyunchul Shim},
  journal={2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)},
  year={2014},
  pages={835-839}
}
This paper proposes a spline-RRT* algorithm and describes its application to path planning for fixed-wing UAVs operating in three-dimensional environments. The tree structure of the proposed spline-RRT* algorithm is extended by using a spline method based on a cubic Bézier curve. Through the use of this spline method, the algorithm can produce a smooth path without any post-processing and can also handle the initial approach direction, that is, the heading and flight path angle for the target… CONTINUE READING

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