A minimum-time obstacle-avoidance path planning algorithm for unmanned aerial vehicles

Abstract In this article, we present a new strategy to determine an unmanned aerial vehicle trajectory that minimizes its flight time in presence of avoidance areas and obstacles. The method combines classical results from optimal control theory, i.e. the Euler-Lagrange Theorem Pontryagin Minimum Principle, with continuation technique dynamically adapts solution curve We initially consider two-dimensional path planning problem then move three-dimensional one, include numerical illustrations for both cases show efficiency our approach.