Path planning algorithm for VTOL type UAVs based on the methods of ray tracing and limit cycle

In this paper, the new path planning algorithm for vertical take-off and landing (VTOL) type unmanned aerial vehicles (UAVs), which is widely used in various practical applications, is introduced. The essence of the algorithm comes from the existing limit cycle navigation method for works in 2D and 3D, respectively. In addition, the ray tracing method is applied in order to enhance the work in 3D. The combined method of ray tracing and limit cycle is the core of the proposed path planning algorithm, and it is verified through a set of simulations. And then, the results show that the algorithm can generate the ideal path among the possible paths to reach the destination.