Continuous Curvature Trajectory Planning Based on Dubins Path andBézierCurve for UAVs

The purpose of this article is to develop a fast algorithm applicable in trajectory planning for UAVs. The proposed new algorithm plans a smooth path with continuous curvature through the predefined waypoints in 2-D space. This algorithm forms a G^2continuous trajectory Dubins-based path that replaces the Dubins line with Béziercurve with length close to an optimum. Continuous curvatureproperty in this new trajectory،unlike the Dubins path،prevents the sudden change in lateral acceleration in an airplane that is tracking this trajectory. Obtained algorithm is based on analytical solutions so it could have real time applications andhence،it could be capable of re-planning thetrajectoryduring flight for the guidance of UAVs in any kind of mission.