Path Planning Algorithms for Skid-to-Turn Unmanned Aerial Vehicles

Abstract

This study describes two types of algorithms for skid-to-turn unmanned aerial vehicles to plan paths between two waypoints under constant wind conditions. The first type of algorithm is a rigorous optimization algorithm based on the Euler-Lagrange formulation with analytical integration of the path. The second type of algorithm is a fast algorithm describing the path by two circular arcs connected by a line segment or another circular arc in the air mass frame, which is similar to the Dubins path. The latter algorithm is developed for actual airborne application, whereas the former algorithm is developed to check the quasi-optimality of the path calculated by the latter algorithm. We present a convergence proof of the latter algorithm under certain assumptions and its quasi-optimality in comparison with the former algorithm. Furthermore, the computational efficiency and the convergence reliability of the latter algorithm are demonstrated through numerical examples.