Survey of UAV motion planning

Abstract

Motion planning is a vital module for unmanned aerial vehicles (UAVs), especially in scenarios of autonomous navigation and operation. This survey delivers some recent state-of-the-art UAV motion planning algorithms and related applications. The logic flow of this survey is divided as the path finding, which is the front-end of most motion planning systems, and the trajectory optimisation, which usually serves as the back-end. Motivation, methodology, problem formulation and derivation are given in this survey, in detail. Finally, a section about real-world applications is given, where roles and effectiveness of most popular motion planning methods are revealed.

Keywords

• path planning
• collision avoidance
• autonomous aerial vehicles
• remotely operated vehicles
• navigation
• mobile robots
• vital module
• unmanned aerial vehicles
• uavs
• autonomous navigation
• recent state-of-the-art uav motion planning
• problem formulation
• popular motion planning methods