A minimum-time obstacle-avoidance path planning algorithm for unmanned aerial vehicles

DOI10.1007/s11075-021-01167-wzbMath1491.49037MaRDI QIDQ2118954

Felice Iavernaro, Francesca Mazzia, Arturo De Marinis

Publication date: 23 March 2022

Published in: Numerical Algorithms (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11075-021-01167-w

zbMATH Keywords

path planning; obstacle avoidance; Pontryagin minimum principle; continuation technique; minimum-time trajectory; UAV (unmanned aerial vehicle)

Mathematics Subject Classification ID

93C85: Automated systems (robots, etc.) in control theory

65L10: Numerical solution of boundary value problems involving ordinary differential equations

49M25: Discrete approximations in optimal control

49S05: Variational principles of physics

65L04: Numerical methods for stiff equations

Uses Software

• Matlab
• BvpSolve
• diffEq
• LIMbook