Path Smoothing Using Bézier Curve with Maneuver Constraint of Fixed-Wing UAV

Dila Marta Putri, Trihastuti Agustinah

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper discusses the problem of path planning for fixed-wing unmanned aerial vehicles (UAVs) in a complex static 3D environment. The main idea is to produce a smooth path that conforms to the safety corridor constraints and maneuverability of the fixed-wing UAV. The representation of a static 3D environment is created using the visibility graph method, where this method generates waypoints and all possible paths in the environment. After being given a starting point and a destination point, the Theta∗ algorithm works to calculate the shortest path on a 3D environment. The shortest path obtained is then smoothed using a Bézier curve-based smoothing path planning method that meets the proposed constraints. The results of this proposed method are compared with previous work by applying the relevant comparative criteria. The simulation results show that the proposed method is safer than the previous method with the smallest distance to the obstacle of 4.73 m.

Original languageEnglish
Title of host publication2022 IEEE Delhi Section Conference, DELCON 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665458832
DOIs
Publication statusPublished - 2022
Event2022 IEEE Delhi Section Conference, DELCON 2022 - Virtual, Online, India
Duration: 11 Feb 202213 Feb 2022

Publication series

Name2022 IEEE Delhi Section Conference, DELCON 2022

Conference

Conference2022 IEEE Delhi Section Conference, DELCON 2022
Country/TerritoryIndia
CityVirtual, Online
Period11/02/2213/02/22

Keywords

  • Bézier curve
  • Fixed-wing
  • Theta
  • Visibility graph

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