Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 1 of 1
Full-Text Articles in Mechanical Engineering
Spline Based Path Planning For Unmanned Air Vehicles, Kevin B. Judd, Timothy W. Mclain
Spline Based Path Planning For Unmanned Air Vehicles, Kevin B. Judd, Timothy W. Mclain
Faculty Publications
A trajectory planning scheme that generates feasible flight routes for an unmanned air vehicle (UAV) is developed. A preliminary path is generated from a Voronoi diagram based on threat locations. This path consists of a series of straight-line segments that cannot be followed exactly by the UAV. Using a series of cubic splines to connect these straight-line segments, this path is refined into an optimum path that is flyable by the UAV. Utilizing a decomposition strategy, both the full path (coarse detail) to the target and the proximate optimum path (fine detail) near the UAV can be quickly computed. The …