Development of an intelligent UAV path planning approach to minimize the costs in flight distance, time, altitude, and obstacle collision

© 2019 IEEE. This paper presents a UAV path planning approach to consider flight cost functions. The UAV flight paths are generated using quintic Hermite interpolation. These paths are constant in speed, and the algorithm generates the paths by iteration to ensure the path segments are smooth. We designed a Waypoint-Matrix to store the points of the path. The paths are aimed to reach the defined destination by passing the waypoints and avoiding obstacles. In this approach, we developed flight cost functions to evaluate the paths, and path length, flight time, altitude, and collision. This approach is validated by simulation results