Path Planning Algorithm For Small Uav Based On Dubins Path

The thorough research and the exploration in the calculation algorithm and a mathematical model of small unmanned aerial vehicle (UAV) obstacle avoi dance and path planning in the static scene were thoroughly res earched and explored.The mathematical model of small UAV obstacle avoidance and path planning in the static scene was established. Combined wit h the small UAV flightperformance and the minimum turn radi us, a path planning algorithm for small UAV based on Dubins path was proposed. Finally, the algorithm wasproved to be effective through the design and simulation verification.