Development of Flight Path Planning for Multirotor Aerial Vehicles

Aerospace

Yi-Ju Tsai²  Chia-Sung Lee²  Chun-Liang Lin²  Ching-Huei Huang¹ 

[1] Aeronautical System Research Division, Chung Shan Institute of Science and Technology, Taichung 407, Taiwan; E-Mail:;Department of Electrical Engineering, National Chung Hsing University, Taichung 402, Taiwan; E-Mails:

关键词: flight path planning;    rapidly-exploring random tree algorithm;    A-star algorithm;    three-dimensional space;   

DOI  :  10.3390/aerospace2020171

来源: mdpi

【 摘 要 】

This study addresses the flight-path planning problem for multirotor aerial vehicles (AVs). We consider the specific features and requirements of real-time flight-path planning and develop a rapidly-exploring random tree (RRT) algorithm to determine a preliminary flight path in three-dimensional space. Since the path obtained by the RRT may not be optimal due to the existence of redundant waypoints. To reduce the cost of energy during AV’s flight, the excessive waypoints need to be refined. We revise the A-star algorithm by adopting the heading of the AV as the key indices while calculating the cost. Bezier curves are finally proposed to smooth the flight path, making it applicable for real-world flight.

【 授权许可】

CC BY   
© 2015 by the authors; licensee MDPI, Basel, Switzerland.