Three-dimensional kinematic path planning constraining for fixedwing UAVs using dubins path

At present, we are living in a stage of unstoppable unfolding regarding technology progress. In particular, in the aerospace industry, Unmanned Aerial Vehicles (UAVs) are taking an important role as time is passing by, placing us in a context where continous new enhancements must be done in order to solve essential problems such as path planning in any kind of workspaces. Working hand in hand with the Politecnico di Torino, on a previous basis already existing which is able to find a path in a three-dimensional environment, this thesis proposes a new methodology in order to limitate kinematically the path planning of the UAV in matter (i.e., minimum turning radius and maximum rate of climb), achieving feasible paths, doable by any kind of fixed-wing aircrafts, principally. Nonetheless, it can be extrapolated to rotatory-wing aricrafts with some conditions. Two proposed methods are discussed, Bézier curves and Dubins path. The limitations and their added difficulty are argued. The Dubins path is chosen, which is proofed to be the best one for the implementation. A detailed explanation about how the implementation has been carried out is done using novel softwares in the scope of robotics: Robot Operating System (ROS) and Open Motion Planning Library (OMPL). It is learnt how to deal with this new middleware and it is being used for the thesis purpose. Moreover, an energetic model is proposed in order to save energy: when the algorithm has already found a solution, it goes on searching for new paths to optimize the energy consumption until being stagnated in a quasi-minimum. Finally, the results obtained are presented in four experiments in a very descriptive way, proving their robustness statistically. In each of them, their limitations and operation zones are found. But what matters is that the results show success, opening up doors to go on researching in this beautiful scope of the engineering: the path planning; making us approach even more to reality, getting perfectly feasible path results.OutgoingObjectius de Desenvolupament Sostenible::7 - Energia Assequible i No Contaminan