A Fixed Wing UAV Path Planning Algorithm Based On Genetic Algorithm and Dubins Curve Theory

Abstract

Path planning is an essential problem in the autonomy research of UAVs. This paper proposes a new path planning algorithm for fixed wing UAVs based on genetic algorithm (GA) and Dubins curve theory. Path planning is treated as a global optimization problem under certain constraints, including the velocity vectors of initial and goal points and the minimum turning radius of UAVs. Dubins curve theory is utilized to satisfy the velocity vector constraints. GA is utilized to generate the shortest threats avoidance path in a 2D environment. A new encoding scheme is proposed, taking into account initial circles, goal circles, threats circles and the positional relationship between the path and these circles. The 2D Dubins path is converted to Dubins airplane path by adding a flight-path angle to it. The algorithm was tested in a complex flight environment and the planned path was tracked by a 6DOF Simulink model of a fixed wing UAV. Results show that the algorithm can generate shortest threats avoidance path in a complicated 3D environment and meanwhile satisfy constraints mentioned above.