THE ALGORITHM FOR GENERATING RANDOM PATHS FOR UAVs DESCRIBED IN A SIMPLIFIED FRENET COORDINATE SYSTEM

Abstract

This article proposes novel algorithm for generating dynamic and
stochastic paths for Unmanned Aerial Vehicles (UAVs) during target approach
phases with predetermined coordinates. It also proposes an algorithm using
virtual time to translate a simplified Frenet coordinate system attached to the
generated paths. From this, the point on the trajectory with the shortest
distance to the UAV is determined. The effectiveness of the proposed
algorithms is validated through comprehensive numerical simulations
implemented in Matlab-Simulink environment.