Path planning algorithm for small UAV based on dubins path

Abstract

The thorough research and the exploration in the calculation algorithm and a mathematical model of small unmanned aerial vehicle (UAV) obstacle avoidance and path planning in the static scene were thoroughly researched and explored. The mathematical model of small UAV obstacle avoidance and path planning in the static scene was established. Combined with the small UAV flight performance and the minimum turn radius, a path planning algorithm for small UAV based on Dubins path was proposed. Finally, the algorithm was proved to be effective through the design and simulation verification.