Parametrization of nonlinear trajectory for time optimal 2D path planning for Unmanned Aerial Vehicles
Joe Woong Yeol, Yongwon Hwang · 2016
This paper presents an effective path decision method to find a two-dimension path that is time optimal and obstacle free using parametrization in Complex domain. Such a path is used only for moving forward vehicles with constant velocity and non-holonomic kinematic constraints such as UAV (Unmanned Aerial Vehicles). Each start and goal point of a vehicle in a planar domain with randomly selected heading angle demonstrates this problem, which is sometimes referred to as Dubins's circle problems. Due to the nonlinearity of problems, researchers have recommended common approaches, including optimal control using cost functions and numerical solutions of nonlinear functions. These approaches do involve additional restrictions that previous research has highlighted. However; the author here suggests a simpler, more effective and more generalized method, based on problems identified in complex domain using parameterization.