Motion Planning with Specified Terminal Velocity Direction of Fixed-Wing UAVs in 3D*
Xiaodong He, Zhongkui Li · IFAC-PapersOnLine · 2023
This paper focuses on the motion planning problem of fixed-wing UAVs in 3D whose velocities are restricted by the nonholonomic constraints. Different from common planning which only requires the target position, we additionally bring in the velocity direction in the sense that the fixed-wing UAV should reach the desired position with the specified velocity direction at the terminal time. Besides, the fixed-wing UAV is modelled as a rigid body with six degrees of freedom rather than a particle agent. The main idea of the proposed motion planning algorithm is to design a guiding vector field over the workspace. By following the vector field, the fixed-wing can be navigated to the destination with the desired velocity direction. Simulations are conducted to verify effectiveness of the theoretical results.