3D Path Planning for Multiple UAVs Using Pythagorean Hodograph Curves

Abstract

This paper presents path planning of multiple UAVs for simultaneous arrival on target. The path planning is divided into phases: firstly design of flyable paths and secondly producing flyable and safe paths achieve the mission. Spatial PH curves are used to produce the paths. The flyable paths are produced by satisfying the maximum curvature and torsion bounds of the UAVs. Latter the flyable paths are tuned to meet the safety conditions and in turn achieve the mission by producing the paths equal in lengths. The curvature bounds and safety conditions and producing paths of equal lengths are all achieved by increasing the curvatures of the paths.