Turning Strategy based on Modified Dubins Algorithm for Unmanned Aerial Vehicle Dynamic Path Planning
Hendri Himawan Triharminto, Anton Satria Prabuwono, Rossilawati Sulaiman, Noor Akhmad Setiawan, Teguh Bharata Adji · 2014
Path planning algorithm is compulsory for establishing autonomous Unmanned Aerial Vehicle (UAV). The dynamic path planning based on linear and Modified Dubins algorithm was introduced. The path planning is used for intercepting a moving target. In order to obtain optimum path, decision making has to be taken relating to turning strategy. Hence, this paper explains decision for turning strategy in the algorithm to obtain the optimum path. The decision is using degree rule as turning strategy. The decision making for turning strategy would be tested in a simulation. The simulation conducted using C++ language for calculation and convert into graph. The scenario of simulation is that a UAV flies to intercept a moving target and avoids random obstacle in cylindrical shape in between. The result shows that the turning strategy achieves optimum path which meets kinematic and safety constraints.