Turning decision strategy of dynamic path planning based on curve algorithm

At present, path planning algorithm is one of the ability for establishing autonomous unmanned aerial vehicle (UAV) especially in dynamic condition. In order to obtain optimum path for dynamic condition, turning decision in path planning algorithm has to be constructed. This paper discusses turning decision strategy based on linear and modified Dubins algorithm. The scenario is that path planning is used for intercepting a moving target. The turning decision which is based on linear and modified Dubins algorithm used quadrant position and degree rules as turning strategy. The quadrant position rules are defining the position between the UAV and the obstacle. The degree rules are determining the position between the UAV and a moving target in certain quadrant. The validation test was conducted using Matlab language for simulation and plotting into graph. The scenario of simulation is that a UAV flies to intercept a moving target and avoids random obstacle in cylindrical shape in between. As a result, the turning strategy achieves optimum path which meets kinematic and safety constraints