A new approach in UAV path planning using Bezier–Dubins continuous curvature path
A. Askari, Mahdi Mortazavi, Heidar Ali Talebi, Ali Motamedi · Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering · 2015
This paper presents continuous curvature paths for unmanned vehicles such as robots and unmanned aerial vehicles. The importance of these paths is that both upper-bounded curvature and upper-bounded curvature derivatives are included in the path. The approach is based on replacement of the Dubins line with the quintic PH Bezier curves by computing a shape parameter by considering the kinematic constraints of the path. Since these paths are Dubins-based paths, their lengths are close to the minimum length. The effectiveness and sub-optimality of the proposed paths are demonstrated through fully nonlinear simulation.