Journal of Intelligent and Robotic Systems

, Volume 57, Issue 1–4, pp 123–141 | Cite as

On the Generation of Trajectories for Multiple UAVs in Environments with Obstacles

  • Armando Alves Neto
  • Douglas G. Macharet
  • Mario F. M. Campos


This paper presents a methodology based on a variation of the Rapidly-exploring Random Trees (RRTs) that generates feasible trajectories for a team of autonomous aerial vehicles with holonomic constraints in environments with obstacles. Our approach uses Pythagorean Hodograph (PH) curves to connect vertices of the tree, which makes it possible to generate paths for which the main kinematic constraints of the vehicle are not violated. These paths are converted into trajectories based on feasible speed profiles of the robot. The smoothness of the acceleration profile of the vehicle is indirectly guaranteed between two vertices of the RRT tree. The proposed algorithm provides fast convergence to the final trajectory. We still utilize the properties of the RRT to avoid collisions with static, environment bound obstacles and dynamic obstacles, such as other vehicles in the multi-vehicle planning scenario. We show results for a set of small unmanned aerial vehicles in environments with different configurations.


Multiple UAV trajectory planning Rapidly-exploring Random Trees Pythagorean Hodograph curves UAV swarm 


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Copyright information

© Springer Science+Business Media B.V. 2009

Authors and Affiliations

  • Armando Alves Neto
    • 1
  • Douglas G. Macharet
    • 1
  • Mario F. M. Campos
    • 1
  1. 1.Computer Vision and Robotic Laboratory (VeRlab), Computer Science DepartmentUniversidade Federal de Minas GeraisBelo HorizonteBrazil

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