Trochoidal Path Planning

Wind-aware, time-optimal path planning for fixed-wing uncrewed aerial vehicles.

Time-Optimal Paths in Wind

Fixed-wing aircraft cannot simply follow the geometric shortest path when wind is present. Their motion through the air is constrained by a minimum turning radius, while wind continuously changes their motion over the ground. Trochoidal path planning provides an analytical way to find time-optimal paths for an uncrewed aerial vehicle traveling through a constant wind field.

Fast Planning with Motion Constraints

Our previous work uses Dubins set classification to efficiently identify candidate trochoidal paths and select the best feasible solution. This gives a planner the speed and reliability needed for autonomous flight while respecting fixed-wing motion constraints and the effects of wind.

Toward Onboard Deployment

We are currently improving this work for more capable planning and working toward onboard deployment on fixed-wing aircraft. Our ongoing efforts focus on making the planner more robust and practical for real flight missions, where fast replanning, vehicle limits, and changing operating conditions all matter.