PATH PLANNING OF MULTIPLE UAVS WITH CLOTHOID CURVES IN TWO DIMENSIONS

This paper presents a design of the shortest path in the plane (2D) formed by clothoid arcs with straight line segments employing the principles of differential geometry. This path is used in path planning of multiple UAVs solving simultaneous arrival on target. The simultaneous arrival is achieved by the design of paths of equal length. The flight paths satisfy (i) constraint on maximum curvature bound and (ii) safety constraints to avoid collisions. The first constraint is met by designing flyable paths and the latter is met by varying curvature of the clothoid arc segments. The paths of equal length is generated by increasing the lengths of the shorter paths to equal to the longest one.