Kinematics and Plane Decomposition Algorithm for Non Linear Path Planning Navigation and Tracking of Unmanned Aerial Vehicles

Abstract

Online planned course of the flight and obstacle avoidance are the major issues of exploitation faced in the real time implementation of Unmanned Aerial Vehicles (UAVs). The main application that are used in the UAV are path planning navigation and tracking. Our project uses two algorithms to derive the navigation control laws. The algorithms such as kinematics based algorithm and plane decomposition algorithm. The control laws rely on the two factors namely, proportionality and derivation factors. These factors guide the UAV in reaching the goal in a nonlinear path successfully. The surveillance mode and obstacle avoidance mode are taken as the important consideration in our project. In the surveillance mode UAV reaches the goal in the three dimensional space with the aid of navigation laws. In obstacle avoidance function, the obstacles are avoided in the course of its path of the flight and attains the destination with the navigation laws’ assistance. The kinematics rules leads to the successful application of tracking and navigation of UAV in nonlinear path planning.