Scientific and Technical Information Processing

, Volume 42, Issue 5, pp 347–358 | Cite as

Automatic path planning for an unmanned drone with constrained flight dynamics

  • K. S. YakovlevEmail author
  • D. A. Makarov
  • E. S. Baskin


In the article we solve path planning task for an agent being multirotor unmanned aerial vehicle (multicopter). We propose an approach of estimating path geometry constraints based on UAV flight dynamics model and control constraints. Than we introduce a new path finding method which takes into consideration those geometry constraints and study this method both theoretically and empirically.


unmanned vehicle unmanned aerial vehicle intelligent control system planning angle-constrained path planning heuristic search 


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Copyright information

© Allerton Press, Inc. 2015

Authors and Affiliations

  • K. S. Yakovlev
    • 1
    Email author
  • D. A. Makarov
    • 1
  • E. S. Baskin
    • 1
  1. 1.Institute for Systems AnalysisRussian Academy of SciencesMoscowRussia

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