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Path planning method for flight vehicle between two consecutive nodes

机译：三个连续节点之间的飞行车辆路径规划方法

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This paper presents a path planning algorithm for a flight vehicle operating between two consecutive nodes. At first, a nonlinear particle model describing kinematics in horizontal plane is founded. Taking all of constrains into consideration, such as turn acceleration constrain, both initial and final waypoints constrain, and Bank-to-turn control constrain, a method based on geometric principle to find a continuous curvature path is given. Assembling the clockwise turn, counter-clockwise turn, and straight primitive creates a flyable path, and then we reduce the path planning to an integral equation problem with single variable; with combination of analytical solution and numerical computation, opposite dividing method is adopted to solve the equation, whose convergence is proved in theory. The contribution of this paper offers strong support for mission planning. Finally, the effectiveness and rapidity of the algorithm is demonstrated by a mathematical simulation.
机译：本文介绍了用于在两个连续节点之间工作的飞行车辆的路径规划算法。 首先，建立了描述水平平面中运动学的非线性粒子模型。 考虑所有约束，如转向加速度约束，初始和最终航点约束，以及基于几何原理的方法，以找到连续曲率路径的方法。 顺时针转动，逆时针转弯和直图创建一个可变路径，然后将路径规划减少到单个变量的整体方程问题; 采用分析解决方案和数值计算的组合，采用相反的分割方法来解决方程，其会聚在理论上证明。 本文的贡献为特派团规划提供了强大的支持。 最后，通过数学模拟证明了算法的有效性和快速性。

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