Pré-Publication, Document De Travail Année : 2025

Safe and wind-aware synchronous path planning for a fleet of fixed-wing constant speed aircraft

Résumé

Path planning for multiple vehicles is a difficult task, but even more so for fixed-wing aircraft. When flying several of them, multiple constraints may apply: constant airspeed, to maintain optimal operational conditions; synchronous arrival to destination, to achieve formation flight; taking into account wind, for limiting deviation from plan, especially for smaller Unmanned Aerial Vehicles. We present a method to solve this problem based on enumerating variations of Dubins paths until a conflict-free solution is found. This provides a simple and parallelizable scheme that can be extended to handle sequencing tasks. We showcase different situations solved in simulation to illustrate the possible applications: transitions between formations, getting into formation and airport arrival sequencing.

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Dates et versions

hal-05299362 , version 1 (06-10-2025)
hal-05299362 , version 2 (20-03-2026)

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  • HAL Id : hal-05299362 , version 1

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Maël Feurgard, Gautier Hattenberger, Nicolas Durand, Simon Lacroix. Safe and wind-aware synchronous path planning for a fleet of fixed-wing constant speed aircraft. 2025. ⟨hal-05299362v1⟩
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