Trajectory Planning with Obstacle Avoidance for UAVs Based on Geometry

This paper explores the obstacle avoidance problem of two unmanned aerial vehicles(UAVs) with constraints in the plane. By considering electromagnetic interference, minimum turning radius and other constraints, we construct the system model for path planning for UAVs. However, the problem is difficult to solve. It is hard to find the analytic formula. So we propose a method that combines the geometric knowledge, the properties of closed curves and iterative algorithm to work out it. What is more, we propose a criterion to determine whether there is a feasible solution for the problem. Compared with heuristic algorithms, the proposed algorithm consumes less computation and can provide reference for other types of automated trajectory planning.