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Table 2 Waypoint set \({\langle {p_{a}}, {p_{h}} \rangle }\) for the virtual UAV

From: Feasible path planning for fixed-wing UAVs using seventh order Bézier curves

Waypoint \(x\) (m) \(y\) (m) \(z\) (m) \(\psi \) (rad) \(\theta \) (rad)
\({p_{a}}\) 0 0 0 0 0
\({p_{b}}\) 200 0 100 \(\tfrac{\pi }{2}\) \(\tfrac{\pi }{6}\)
\({p_{c}}\) 500 500 400 \(\tfrac{\pi }{2}\) 0
\({p_{d}}\) 500 1,000 200 \(-\tfrac{\pi }{2}\) 0
\({p_{e}}\) 500 -500 500 \(\pi \) \(-\tfrac{\pi }{6}\)
\({p_{f}}\) -300 200 300 \(\tfrac{\pi }{4}\) 0
\({p_{g}}\) 0 300 200 \(\pi \) 0
\({p_{h}}\) -500 1,000 100 \(\pi \) 0