Adaptive path planning for VTOL-UAVs
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This paper addresses the development of an adaptive path planning algorithm for a small vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) with a take off weight below 1 kg. The UAV was developed for versatile surveillance and reconnaissance applications in close-up range up to 10 km. The UAV platform with the onboard navigation system is described. Improvements of new adapted ranging sensors—mandatory for adaptive path planning algorithms—on the platform are discussed. The adaptive path planning algorithms including collision avoidance strategies of the platform are investigated. The development of a powerful simulation environment of the complete UAV including identified sensor characteristics which is essential for developing and testing of path planning algorithms is presented. The benefits of different planning algorithms are discussed and compared using a powerful simulation tool and validated by real test flight experiments.
KeywordsPath Planning Unmanned Aerial Vehicle Collision Avoidance Path Planning Algorithm Global Path Planning
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