Sampling Based Path Planning and Vector Fields for Curve Tracking by UAVs
Alexander Jahn, Luciano C. A. Pimenta · 2016
This paper describes the combination of artificial, circulating vector fields based on implicit curves as proposed in Gonçalves et al. (2010) with a sampling based navigation technique in the same spirit of VFRRT (vector field rapidly exploring random tree) from Ko et al. (2014). The resulting two stage strategy outputs feasible paths considering a Dubins airplane model from Owen et al. (2015), that avoids known static obstacles in the three dimensional space. In simulations the proposed algorithm outperforms a pure sampling based approach.