UAV Path Planning

Link to Thesis

Developed a novel 3D path planning algorithm for UAVs in wilderness search and rescue scenarios; method uses imported digital elevation data from USGS to extract surface contours and compute terrain normal vectors; together with a manually defined region, perpendicular contour – based paths are smoothed and combined with circular helical spirals at end points to form a path that is (provably) safe , smooth , and flyable.

Fully implemented in Matlab and Simulink, complete with a GUI.