Real-time continuous curvature path planning of UAVS in cluttered environments

This paper presents a method for curvature continuous (G 2 continuous) path generation for a UAV flying in a cluttered environment in real-time. First we generate a collision free path using a rapidly-exploring random tree (RRT). However a UAV cannot fly this path since it consists of piecewise linear segments. G 2 continuous path algorithm using cubic Bezier spiral curves is presented in this paper. Simulation results show the superiority of cubic Bezier spiral curves to Dubins path and C 1 continuous cubic Bezier curves.