A better path planning algorithm based on Clothoid curves for unmanned aerial vehicles (UAVs)

A new algorithm producing Clothoid composite path is proposed in this paper. A shorter path with continuous curvature which is easy to follow for UAVs can be obtained by this algorithm in any start and finish poses, with the constraints of the start and finish poses and the turning radius of UAV taken into consideration. Sections 1 through 3 of the full paper explain and evaluate the path planning algorithm mentioned in the title, which we believe is better than the existing differential geometry algorithm. The core of sections 1 through 3 consists of: (1) section 1 briefs Clothoid curve; (2) section 2 explains our path planning algorithm; for convenience, it is divided into two subsections (2.1 and 2.2); Figs. 1 and 2 are worth noticing; (3) section 3 evaluates our path planning algorithm; simulation results are presented in Figs. 3 through 5; the simulation results and their analysis show preliminarily that, compared with the differential geometry algorithm, the proposed iteration algorithm is indeed simpler and the nonlinear equation has a unique solution by choosing the starting value in the starting interval.