Path Planning for Continuous-curvature Avoidance using Hierarchical Four Parameter Logistic Curves

2020 ◽  
Author(s):  
Yuan-Ting Fu ◽  
Chih-Ming Hsu ◽  
Ze-Yu Chen ◽  
Jen-Hsiang Chou
Keyword(s):  
Path Planning ◽  
Continuous Curvature ◽  
Logistic Curves

Path Planning of Multiple UAV’s in an Environment of Restricted Regions

2005 ◽  
Author(s):  
Madhavan Shanmugavel ◽  
Antonios Tsourdos ◽  
Rafal Zbikowski ◽  
Brian White
Keyword(s):  
Path Planning ◽  
Path Length ◽  
Mathematical Property ◽  
Multiple Uavs ◽  
Safety Margins ◽  
Pythagorean Hodograph ◽  
Offset Curves ◽  
Safety Constraints ◽  
Continuous Curvature ◽  
Ph Curve

This paper describes a novel idea of path planning for multiple UAVs (Unmanned Aerial Vehicles). The path planning ensures safe and simultaneous arrival of the UAVs to the target while meeting curvature and safety constraints. Pythagorean Hodograph (PH) curve is used for path planning. The PH curve provides continuous curvature of the paths. The offset curves of the PH paths define safety margins around and along each flight path. The simultaneous arrival is satisfied by generation of paths of equal lengths. This paper highlights the mathematical property — changing path-shape and path-length by manipulating the curvature and utilises this to achieve the following constraints: (i) Generation of paths of equal length, (ii) Achieving maximum bound on curvature, and, (iii) Meeting the safety constraints by offset paths.

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