@inproceedings{00f9adf5938e4a9ca2288283aa70d3b7,
title = "Motion Planning for Fixed-Wing UAV Using Modified Dubins-RRT* Algorithm",
abstract = "Motion planning is a pivotal area of research for intelligent mobile robots, including unmanned aerial vehicles (UAVs). This paper focuses on the motion planning problem for fixed-wing UAVs and proposes a modified Dubins-Rapidly-Exploring Random Tree*(MD-RRT*) algorithm. The algorithm refines the sampling function by eliminating random angle sampling. It also enlarges the safety radius to reduce the computational load of collision detection. Then, a proof for the reasonable boundary value of the enlarged safety radius is provided. Additionally, it outlines the applicability conditions of the proposed algorithm compared to the original Dubins-RRT* algorithm. Through simulations, it demonstrates that the proposed algorithm enhances the overall computational efficiency of the algorithm at the expense of certain sampling boundaries and achieves shorter average paths.",
keywords = "Dubins-RRT*, Motion planning, fixed-wing UAV",
author = "Changyu Bi and Junhui Liu and Jianan Wang and Jiayuan Shan",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.; International Conference on Guidance, Navigation and Control, ICGNC 2024 ; Conference date: 09-08-2024 Through 11-08-2024",
year = "2025",
doi = "10.1007/978-981-96-2240-5\_13",
language = "English",
isbn = "9789819622399",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "128--138",
editor = "Liang Yan and Haibin Duan and Yimin Deng",
booktitle = "Advances in Guidance, Navigation and Control - Proceedings of 2024 International Conference on Guidance, Navigation and Control Volume 11",
address = "Germany",
}