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Smooth Three-Dimensional Route Planning for Fixed-Wing Unmanned Aerial Vehicles With Double Continuous Curvature

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Smooth Three-Dimensional Route Planning for Fixed-Wing Unmanned Aerial Vehicles With Double Continuous Curvature

dc.contributor.author	Vanegas, Gloria
dc.contributor.author	Armesto, Leopoldo
dc.contributor.author	Girbés, Vicent
dc.contributor.author	Pérez Soler, Joaquín
dc.date.accessioned	2023-02-15T15:09:15Z
dc.date.available	2023-02-15T15:09:15Z
dc.date.issued	2022
dc.identifier.citation	Vanegas, Gloria Armesto, Leopoldo Girbés, Vicent Pérez Soler, Joaquín 2022 Smooth Three-Dimensional Route Planning for Fixed-Wing Unmanned Aerial Vehicles With Double Continuous Curvature Ieee Access 10 94262 94272
dc.identifier.uri	https://hdl.handle.net/10550/85459
dc.description.abstract	This paper presents a smooth flight path planner for maneuvering in a 3D Euclidean space, which is based on two new space curves. The first one is called 'Elementary Clothoid-based 3D Curve (ECb3D)', which is built by concatenating two symmetric Clothoid-based 3D Curves (Cb3D). The combination of these curves allows to reach an arbitrary orientation in 3D Euclidean space. This new curve allows to generate continuous curvature and torsion profiles that start and finish with a null value, which means that they can be concatenated with other curves, such as straight segments, without generating discontinuities on those variables. The second curve is called 'Double Continuous Curvature 3D Curve (DCC3D)' which is built as a concatenation of three straight line segments and two ECb3D curves, allowing to reach an arbitrary configuration in position and orientation in the 3D Euclidean space without discontinuities in curvature and torsion. This trajectory is applied for autonomous path planning and navigation of unmanned aerial vehicles (UAVs) such as fixed-wing aircrafts. Finally, the results are validated on the FlightGear 2018 flight simulator with the UAV kadett 2400 platform.
dc.language.iso	eng
dc.relation.ispartof	Ieee Access, 2022, vol. 10, p. 94262-94272
dc.subject	Vehicles
dc.subject	Robots
dc.subject	Cinemàtica
dc.title	Smooth Three-Dimensional Route Planning for Fixed-Wing Unmanned Aerial Vehicles With Double Continuous Curvature
dc.type	journal article	es_ES
dc.date.updated	2023-02-15T15:09:15Z
dc.identifier.doi	10.1109/ACCESS.2022.3203069
dc.identifier.idgrec	156915
dc.rights.accessRights	open access	es_ES