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 |