Paper Title
TRAJECTORYPLANNING OF UAVs BY USING A* PATH PLANNING ALGORITHM

Abstract
Abstract - This paper presents the mapping operations of a quadrotor UAV and the processes of path planning and trajectory planning to achieve optimal navigation towards the desired target. The path planning and trajectory planning processes have been conducted over two-dimensional space, x and y axis. In an environment with known fixed obstacles, the A* path planning algorithm has been applied using a grid map. Reference waypoints have been obtained through the A* path planning algorithm, which takes into account the minimum distance as an optimization criteria. In order to achieve smooth transitions between the waypoints generated by the path planning algorithm, trajectory planning processes have been implemented. A cubic polynomial curve has been employed for the trajectory planning algorithm. B-spline trajectory planning algorithm is used to compare with cubic polynomial trajectory planning algorithm. Cascaded PID control structures have been employed to enable the tracking of reference points with minimal error. Successful navigation from the starting point to the target point has been observed in the Matlab-Simulink environment. Keywords - A* Path Planning, Cubic Polynomial, , B-Spline, Trajectory Planning, Quadrotor, PID Controller.