3-Dimensional path planning of an unmanned aerial vehicle

Path Planning of an U.A.V (Unmanned Aerial Vehicle) is an essential part for robotic science in order to determine a collision or an hindrance free path between the start and the goal position. In order to overview the path planning of the UAV, an algorithm is introduced that allows to produce a path for the robot to navigate in an environment. Planning Path modules are configured in such a way so that it checks the optimum level of power savings, path shortness, minimum number of turns and twists in the path and finally the completeness. In this thesis topic RRT (Rapidly Exploring Random Tree) algorithm is taken as a global planner for path planning and for the shortest path for the U.A.V. to travel, Cost Function algorithm is also used for planning the path for the robot. The simulation and the results are done in Matlab and in a 3-Dimensional environment with X,Y,Z axes. Previous results of other researchers have shown that algorithms play an important role in producing an optimal path for an U.A.V