Comparative Study of 3-Dimensional Path Planning Methods Constrained by the Maneuverability of Unmanned Aerial Vehicles

Abstract

This paper presents a comparison of two classic path planning techniques, Rapidly-Exploring Random Tree and Modified Adaptive Cell Decomposition applied to 3-Dimensional space path planning generation for UAVs. The study presented focuses on the inclusion of real fixed-wing UAVs maneuverability, where the dynamic and kinematic behaviour introduces hard constraints in real environments. In addition, the inclusion of Dubins and Clotoids curves in 3-Dimensional spaces has been considered in terms of improving the results of these classical methods. Flight simulation results have been included to clarify this comparative study.