Online path planning for kinematic-constrained UAVs in a dynamic environment based on a Differential Evolution algorithm

TL;DR

This paper introduces an online path planning method for UAVs with kinematic constraints in dynamic environments, utilizing NURBS and Differential Evolution to effectively navigate obstacles.

Contribution

It presents a novel combination of NURBS path representation and Differential Evolution for real-time UAV path planning considering motion constraints and dynamic obstacles.

Findings

Feasibility demonstrated in initial tests

Effective handling of dynamic obstacles

Foundation for 3D environment extension

Abstract

This research presents an online path planner for Unmanned Aerial Vehicles (UAVs) that can handle dynamic obstacles and UAV motion constraints, including maximum curvature and desired orientations. Our proposed planner uses a NURBS path representation and a Differential Evolution algorithm, incorporating concepts from the Velocity Obstacle approach in a constraint function. Initial results show that our approach is feasible and provides a foundation for future extensions to three-dimensional (3D) environments.