Abstract
Trajectory generation for fixed-wing aircraft can be based on Dubins vehicle model that constrains the vehicle to move forward with a limited turning radius and a constant speed. However, such a vehicle model cannot benefit from the physical capabilities of a real fixed-wing aircraft that can adjust its speed. Therefore, we propose to address the limitation of Dubins vehicle model by a generalized model that combines various turning radii, and thus allows increasing the cruise speed whenever possible. The proposed method provides faster trajectories in comparison to the trajectory generated by Dubins vehicle with a single turning radius and a constant cruise speed. The benefit of the proposed method is demonstrated on point-to-point trajectories, for which the parameters are inspired by Cessna 172 aircraft.
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