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Implementing Dubins Airplane Paths On Fixed-Wing Uavs, Timothy Mclain, Randall W. Beard, Mark Owen
Implementing Dubins Airplane Paths On Fixed-Wing Uavs, Timothy Mclain, Randall W. Beard, Mark Owen
Faculty Publications
A well-known path-planning technique for mobile robots or planar aerial vehicles is to use Dubins paths, which are minimum-distance paths between two configurations subject to the constraints of the Dubins car model. An extension of this method to a three-dimensional Dubins airplane model has recently been proposed. This chapter builds on that work showing a complete architecture for implementing Dubins airplane paths on small fixed-wing UAVs. The existing Dubins airplane model is modified to be more consistent with the kinematics of a fixed-wing aircraft. The chapter then shows how a recently proposed vector-field method can be used to design a …