A minimum-time obstacle-avoidance path planning algorithm for unmanned aerial vehicles - De Marinis, Arturo; Iavernaro, Felice; Mazzia, Francesca (Numerical algorithms, 2022)
Keywords: Algebra; Algorithms; Boundary conditions; Boundary value problems; Computer Science; Computer simulation; Control theory; Dynamical systems; Energy consumption; Flight time; Numeric Computing; Numerical Analysis; Obstacle avoidance; Optimal control; Optimization; Ordinary differential equations; Original Paper; Path planning; Theory of Computation; Unmanned aerial vehicles; Variables; 65L04; Obstacle avoidance; Pontryagin minimum principle; Continuation technique; Minimum-time trajectory; Path planning; UAV; 49M25; 65L10