Adaptive guidance for UAV based on Dubins path
Pau Bares, Samuel B. Lazarus, Antonios Tsourdos, Ali Savvaris · AIAA Guidance, Navigation, and Control (GNC) Conference · 2013
Path planning is a complex problem, which involves meeting physical constraints of the UAVs, constraints from operating environment and other operational requirements. The foremost constraint to be met is that the paths must be flyable. Flyable paths are those that meet the kinematic constraints of the UAV. Satisfying this constraint ensures that the motion of the UAVs stays within the maximum bounds on manoeuvre curvature. The safety of the path is measured by ability of the path to avoid threats, obstacles, and other UAVs. In this paper an adaptive 3D path-following algorithm based on Dubins paths is presented. It is demonstrated efficient in different wind conditions, and with static obstacles.