Implementation of Quadrotor Path Planning Using Fluid Flow Equations

Abstract

In this paper, an offline path planning algorithm based on fluid flow line equations is applied and demonstrated for quadrotor UAV s. A flowing inviscid fluid is known to have an inherent tendency to avoid obstacles by simply moving around them. Moreover, such fluid is always capable of finding its route to the point that has the minimum potential, provided that this route exists. The proposed algorithm uses the panel method to analyse automatically the environment and generate potential flow lines of a flowing inviscid fluid. These flow lines are then used to draw a safe path for a quadrotor from its starting point to its target. The resulting path is seen to be smooth and promising for the navigation of air vehicles. Experimental indoor tests on real simple maps using AR Drone 2 quadrotor emphasize the effectiveness of the algorithm that is able to generate smooth and safe paths.