Skip to content
2D path-planning algorithm which uses a receding horizon approach and quadratic Bezier curves.
Branch: master
Clone or download
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Type Name Latest commit message Commit time
Failed to load latest commit information.


This code was developed in conjunction with our paper "UAV Path-Planning using Bézier Curves and a Receding Horizon Approach." Given a flight domain of static and/or dynamic obstacles, the method attempts to find a viable flight path while minimizing some criteria, such as path length, time elapsed, or energy use.

To use the path-planning algorithm, open main.m. Add the subfolders in \src and then run main.m. To preview possible obstacle fields, use test.m.

In main.m, there are several different algorithm options, such as which objective function will be used, how the gradients will be calculated, what type of obstacle field will be used, etc. Once the algorithm is complete, plots are generated which show the UAV's planned path.

You can’t perform that action at this time.