Time-Efficient Path Planner in 3D Obstacle-Rich Environments Considering the Maximum Turn Rate of a Fixed-Wing Aerial Vehicle
A time-efficient path plan algorithm is important for the real-time navigation of a fixed-wing autonomous aerial vehicle in unknown 3D obstacle-rich environments. Note that a fixed-wing aerial vehicle can freely move in 3D environments, not in 2D environments. This research addresses a 3D path plann...
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MDPI AG
2025-02-01
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| Online Access: | https://www.mdpi.com/2076-3417/15/5/2309 |
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| author | Jonghoek Kim |
| author_facet | Jonghoek Kim |
| author_sort | Jonghoek Kim |
| collection | DOAJ |
| description | A time-efficient path plan algorithm is important for the real-time navigation of a fixed-wing autonomous aerial vehicle in unknown 3D obstacle-rich environments. Note that a fixed-wing aerial vehicle can freely move in 3D environments, not in 2D environments. This research addresses a 3D path planner, which is time-efficient in generating a safe and short path to the destination. In practice, a fixed-wing aerial vehicle has a limited turn rate due to its acceleration limits. The proposed path plan algorithm constructs a smooth 3D path by considering the maximum turn rate of a fixed-wing aerial vehicle. It is proven that the planned 3D path avoids collision with obstacles, while satisfying the turn rate limit constraints. Through computer simulations, one proves the outperformance (low computational load, satisfying maneuverability constraints, and short path length) of the proposed 3D path plan algorithm by comparing it with the state-of-the-art 3D rapidly exploring random tree (RRT)-based path planners considering maneuverability constraints. |
| format | Article |
| id | doaj-art-a367753e6f294ade8861d34eb8de539d |
| institution | OA Journals |
| issn | 2076-3417 |
| language | English |
| publishDate | 2025-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj-art-a367753e6f294ade8861d34eb8de539d2025-08-20T02:04:34ZengMDPI AGApplied Sciences2076-34172025-02-01155230910.3390/app15052309Time-Efficient Path Planner in 3D Obstacle-Rich Environments Considering the Maximum Turn Rate of a Fixed-Wing Aerial VehicleJonghoek Kim0System Engineering Department, Sejong University, Seoul 05006, Republic of KoreaA time-efficient path plan algorithm is important for the real-time navigation of a fixed-wing autonomous aerial vehicle in unknown 3D obstacle-rich environments. Note that a fixed-wing aerial vehicle can freely move in 3D environments, not in 2D environments. This research addresses a 3D path planner, which is time-efficient in generating a safe and short path to the destination. In practice, a fixed-wing aerial vehicle has a limited turn rate due to its acceleration limits. The proposed path plan algorithm constructs a smooth 3D path by considering the maximum turn rate of a fixed-wing aerial vehicle. It is proven that the planned 3D path avoids collision with obstacles, while satisfying the turn rate limit constraints. Through computer simulations, one proves the outperformance (low computational load, satisfying maneuverability constraints, and short path length) of the proposed 3D path plan algorithm by comparing it with the state-of-the-art 3D rapidly exploring random tree (RRT)-based path planners considering maneuverability constraints.https://www.mdpi.com/2076-3417/15/5/23093D path planmaneuverability constraintsfixed-wing autonomous aerial vehicle3D obstacle-rich environmentcollision avoidancemaximum turn rate |
| spellingShingle | Jonghoek Kim Time-Efficient Path Planner in 3D Obstacle-Rich Environments Considering the Maximum Turn Rate of a Fixed-Wing Aerial Vehicle Applied Sciences 3D path plan maneuverability constraints fixed-wing autonomous aerial vehicle 3D obstacle-rich environment collision avoidance maximum turn rate |
| title | Time-Efficient Path Planner in 3D Obstacle-Rich Environments Considering the Maximum Turn Rate of a Fixed-Wing Aerial Vehicle |
| title_full | Time-Efficient Path Planner in 3D Obstacle-Rich Environments Considering the Maximum Turn Rate of a Fixed-Wing Aerial Vehicle |
| title_fullStr | Time-Efficient Path Planner in 3D Obstacle-Rich Environments Considering the Maximum Turn Rate of a Fixed-Wing Aerial Vehicle |
| title_full_unstemmed | Time-Efficient Path Planner in 3D Obstacle-Rich Environments Considering the Maximum Turn Rate of a Fixed-Wing Aerial Vehicle |
| title_short | Time-Efficient Path Planner in 3D Obstacle-Rich Environments Considering the Maximum Turn Rate of a Fixed-Wing Aerial Vehicle |
| title_sort | time efficient path planner in 3d obstacle rich environments considering the maximum turn rate of a fixed wing aerial vehicle |
| topic | 3D path plan maneuverability constraints fixed-wing autonomous aerial vehicle 3D obstacle-rich environment collision avoidance maximum turn rate |
| url | https://www.mdpi.com/2076-3417/15/5/2309 |
| work_keys_str_mv | AT jonghoekkim timeefficientpathplannerin3dobstaclerichenvironmentsconsideringthemaximumturnrateofafixedwingaerialvehicle |