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Fast Marching Square Method for UAVs Mission Planning with consideration of Dubins Model Constraints

机译：考虑Dubins模型约束的无人机任务计划快速行进平方法

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In this work we present an approach for mission planning carried out by Unmanned Aerial Vehicles (UAVs) in a three-dimensional urban environment. The approach is based on the Fast Marching Square (FM 2 ) algorithm. The FM 2 algorithm is used as the planner, which generates the optimal-time path from an initial point to a final point, avoiding static obstacles in a three-dimensional building environment. The Dubins airplane model is used to check if the path resulting from the FM 2 is feasible, considering constraints in flight such as turning rate, climb rate and velocity. All these constraints are considered for a fixed-wing aircraft. Thanks to this approach, the trajectory generated by the FM 2 will be perfectly feasible for an UAV, always considering its constraints and the static obstacles of the environment. Two examples of application will be shown to demonstrate the good performance of the approach, introducing different altitude constraints.
机译：在这项工作中，我们提出了无人飞行器（UAV）在三维城市环境中执行任务计划的方法。该方法基于快速行进平方（FM 2）算法。 FM 2算法用作计划程序，它生成从起始点到最终点的最佳时间路径，从而避免了三维建筑环境中的静态障碍。考虑到飞行中的限制因素，例如转弯率，爬升率和速度，使用杜宾斯飞机模型检查FM 2产生的路径是否可行。对于固定翼飞机考虑了所有这些限制。多亏了这种方法，FM 2生成的轨迹对于无人机而言是完全可行的，并且始终考虑其约束条件和环境的静态障碍。将显示两个应用示例，以演示该方法的良好性能，并引入不同的高度限制。

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