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

摘要

This study describes two types of algorithms for skid-to-turn unmanned aerial vehicles to plan paths between twonwaypoints under constant wind conditions. The first type of algorithmis a rigorous optimization algorithmbased onnthe Euler–Lagrange formulation with analytical integration of the path. The second type of algorithm is a fastnalgorithmdescribing the path by two circular arcs connected by a line segment or another circular arc in the airmassnframe,which is similar to theDubins path.The latter algorithmis developed for actual airborne application,whereasnthe former algorithm is developed to check the quasi-optimality of the path calculated by the latter algorithm. Wenpresent a convergence proof of the latter algorithm under certain assumptions and its quasi-optimality inncomparisonwith the former algorithm. Furthermore, the computational efficiency and the convergence reliability ofnthe latter algorithm are demonstrated through numerical examples.