**Commenced**in January 2007

**Frequency:**Monthly

**Edition:**International

**Paper Count:**32601

##### Application of Rapidly Exploring Random Tree Star-Smart and G2 Quintic Pythagorean Hodograph Curves to the UAV Path Planning Problem

**Authors:**
Luiz G. Véras,
Felipe L. Medeiros,
Lamartine F. Guimarães

**Abstract:**

**Keywords:**
Path planning,
path smoothing,
Pythagorean
hodograph curve,
RRT*-Smart.

**Digital Object Identifier (DOI):**
doi.org/10.5281/zenodo.1316688

**References:**

[1] Farouki, Rida T. Pythagorean—hodograph Curves. Springer Berlin Heidelberg, 2008.

[2] Farouki, Rida T. The conformal map z → z2 of the hodograph plane. Computer Aided Geometric Design, v. 11, n. 4, p. 363-390, 1994.

[3] Farouki, Rida T. et al. Path planning with Pythagorean-hodograph curves for unmanned or autonomous vehicles. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 2017.

[4] Islam, Fahad et al. RRT*-Smart: Rapid convergence implementation of RRT* towards optimal solution. In: Mechatronics and Automation (ICMA), 2012 International Conference on. IEEE, 2012. p. 1651-1656.

[5] Lavalle, Steven M. Rapidly-exploring random trees: A new tool for path planning. 1998.

[6] Karaman, Sertac; Frazzoli, Emilio. Sampling-based algorithms for optimal motion planning. The international journal of robotics research, v. 30, n. 7, p. 846-894, 2011.

[7] Fabri, Andreas; Pion, Sylvain. CGAL: The computational geometry algorithms library. In: Proceedings of the 17th ACM SIGSPATIAL international conference on advances in geographic information systems. ACM, 2009. p. 538-539.

[8] Dong, Bohan; Farouki, Rida T. Algorithm 952: PHquintic: A library of basic functions for the construction and analysis of planar quintic Pythagorean-hodograph curves. ACM Transactions on Mathematical Software (TOMS), v. 41, n. 4, p. 28, 2015.

[9] Farouki, Rida T.; Sakkalis, Takis. Pythagorean hodographs. IBM Journal of Research and Development, v. 34, n. 5, p. 736-752, 1990.