Online Feasible Trajectory Generation for Collision Avoidance in Fixed-Wing Unmanned Aerial Vehicles

What is it about?

For the problem of real-time obstacle avoidance when a fixed-wing UAV should fly above its stall velocity, a feasible trajectory can ensure safer flight among obstacles compared to the optimal trajectory, which requires considerable computation time. Thus, we present a rapid feasible trajectory generation for collision avoidance in fixed-wing UAVs. Even though the optimal trajectory is superior in terms of quality, a feasible trajectory that can be rapidly obtained is preferable so that a UAV may safely fly in an obstacle-rich environment.

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