3. Path Planning in Three Dimensions

  1. Antonios Tsourdos,
  2. Brian White and
  3. Madhavan Shanmugavel

Published Online: 8 NOV 2010

DOI: 10.1002/9780470974636.ch3

Cooperative Path Planning of Unmanned Aerial Vehicles

Cooperative Path Planning of Unmanned Aerial Vehicles

How to Cite

Tsourdos, A., White, B. and Shanmugavel, M. (2010) Path Planning in Three Dimensions, in Cooperative Path Planning of Unmanned Aerial Vehicles, John Wiley & Sons, Ltd, Chichester, UK. doi: 10.1002/9780470974636.ch3

Author Information

  1. Cranfield Defence and Security, Cranfield University, UK

Publication History

  1. Published Online: 8 NOV 2010
  2. Published Print: 19 NOV 2010

ISBN Information

Print ISBN: 9780470741290

Online ISBN: 9780470974636



  • cooperative path planning - of unmanned aerial vehicles (UAVs);
  • three-dimensional (3D) flight path production algorithms;
  • 3D Dubins manoeuvre conditions and Dubins manoeuvre of UAV;
  • initial rotation elimination - into coplanar configuration and full 3D manoeuvre;
  • path length–Dubins 3D - composite path of three or four segments;
  • Pythagorean hodograph curve;
  • UAV application, and curvature continuity - curvature proportional to lateral acceleration of UAV;
  • resulting path, tangent-continuous - and not curvature-continuous;
  • spatial PH path with tube;
  • flyable path design - interpolating positions, directions and curvature at end points


This chapter contains sections titled:

  • Dubins Paths in Three Dimensions Using Differential Geometry

  • Path Length–Dubins 3D

  • Pythagorean Hodograph Paths-3D

  • Design of Flyable Paths Using PH Curves

  • References