Path Planning Method for Static Obstacle Avoidance Using Bezier Spline Interpolation in UAVs
S. Nithasree, K. Lokesha, Raji George, Shreeram Murali, Anubhav Kini · Journal of Mines Metals and Fuels · 2025
Small-scale autonomous unmanned aerial vehicles commonly used for mapping and imagery require long, straight, and level flight trajectories to eliminate distortion caused by the plane’s roll. This paper presents the Software-in-the-Loop performance evaluation of a path-planning method for static obstacle avoidance using Bezier spline curves. This method generates two intermediate knots near the periphery of a static circular obstacle, through which a Bezier spline curve is interpolated. This method is then implemented in the firmware of a multi-rotor unmanned aerial vehicle to simulate and evaluate certain flight parameters based on three test cases where the waypoints and obstacle coordinates are already known.