Fixed-Wing UAV Energy Efficient 3D Path Planning in Cluttered Environments

Abstract UAV path planning in 3D cluttered and uncertain environments centers on finding an optimal / sub-optimal collision-free path, considering parallel geometric, physical temporal constraints, fox example, obstacles, infrastructure, or artificial landmarks, etc. This paper introduces a novel node-based algorithm, called Energy Efficient A* (EEA*), which is based the search but overcomes some of its key limitations. The EEA* deals with environments, it robust converging fast to solution, energy efficient real-time implementable executable. In addition EEA*, local planner also derived cope unknown dynamic threats within working environment. are first implemented evaluated via simulated experiments using fixed-wing operating mountain-like presence obstacles. followed by evaluating set up where three UAVs commanded follow their respective paths safe way. efficiency tested compared conventional algorithm.