3D Clothoid-Based Decoupled Trajectory Planning for Fixed-Wing UAV

This paper proposes a 3D Clothoid-based decoupled path and speed planning framework for the fixed-wing UAV to generate smooth and dynamically feasible trajectory in 3D space. Using 3D Clothoid curves, the framework ensures curvature continuity, while the decoupled planning approach lowers computational complexity by separating spatial and temporal optimization. A data association mechanism links path points with attractors, repellers, and barriers. An obstacle avoidance model based on these constraints, combined with repeller potentials and barrier functions, ensures safe navigation in constrained environments. Experimental results validate the ability of the framework to produce safe, smooth, and efficient trajectories, demonstrating its suitability for advanced UAV operations in complex environments. A demonstration of the experimental results can be viewed at the following link: https://youtu.be/zojptuAuXNE.