Publication: FM2 path planner for UAV applications with curvature constraints: a comparative analysis with other planning approaches
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2022-05-01
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MDPI AG
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Abstract
This paper studies the Fast Marching Square (FM2) method as a competitive path planner
for UAV applications. The approach fulfills trajectory curvature constraints together with a
significantly reduced computation time, which makes it overperform with respect to other planning
methods of the literature based on optimization. A comparative analysis is presented to demonstrate
how the FM2 approach can easily adapt its performance thanks to the introduction of two
parameters, saturation a and exponent b, that allow a flexible configuration of the paths in terms
of curvature restrictions, among others. The main contributions of the method are twofold: first,
a feasible path is directly obtained without the need of a later optimization process to accomplish
curvature restrictions; second, the computation speed is significantly increased, up to 220 times faster
than other optimization-based methods such as, for instance, Dubins, Euler–Mumford Elastica and
Reeds–Shepp. Simulation results are given to demonstrate the superiority of the method when used
for UAV applications in comparison with the three previously mentioned methods.
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Fast marching, Dubins, Shepp, Curvature constraint, Euler–mumford elastica, Reeds–shepp
Bibliographic citation
Garrido, S., Muñoz, J., López, B., Quevedo, F., Monje, C. A., & Moreno, L. (2022). FM2 Path Planner for UAV Applications with Curvature Constraints: A Comparative Analysis with Other Planning Approaches. Sensors, 22(9), 3174-3191.