Dynamic path planning with optimal curvature and torsion for UAV rendezvous using FRBO: feasible region-based optimization

Rendezvous between fixed-wing unmanned aerial vehicles (UAVs) and multi-rotor UAVs is a critical issue in multi-rotor UAV assisted take-off and landing technology. Most existing path planning studies lack analysis of curvature and torsion, as well as the dynamic rendezvous point, leading to failure to complete rendezvous tasks. This paper aims to propose a dynamic path planning algorithm with optimal curvature and torsion for rendezvous between fixed-wing UAVs and multi-rotor UAVs. The authors propose a novel feasible region-based optimization (FRBO) method. First, a mathematical model for UAV rendezvous is constructed. Furthermore, the Bezier curve is introduced to model a 3D feasible path, which accounts for the dynamic rendezvous point. Next, the feasible region of the control points is derived through curvature and torsion analysis at the endpoints. Finally, to solve the infinite-dimensional optimization problem, the control points of the Bezier curve are further optimized using a genetic algorithm. The effectiveness of the proposed method is validated through simulation experiments, demonstrating average 88.35% reduction in maximum curvature compared to state-of-the-art algorithms, along with 44.5% and 42.9% decrease in maximum torsion and average computational cost. To generate a dynamic path with optimal curvature and torsion for in-flight rendezvous, this paper presents a novel FRBO method, demonstrating significant advantages in UAV path planning.