Work place: Department of computer engineering, National Technical University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute” Kyiv, 03056, Ukraine
E-mail: novotar@gmail.com
Website:
Research Interests:
Biography
Mykhailo Novotarskyi: Doctor of Sciences, Professor, Department of computer engineering, National Technical University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute” Kyiv, 03056, Ukraine.
Areas of scientific interests: Mathematical modeling of complex physical processes, formal description of mathematical and simulation models, parallel locally asynchronous numerical methods, machine learning and data mining, reinforcement learning methods.
By Mykola Nikolaiev Mykhailo Novotarskyi
DOI: https://doi.org/10.5815/ijisa.2025.04.01, Pub. Date: 8 Aug. 2025
This paper presents an Enhanced Adaptive B-Spline Smoothing approach for UAV path planning in complex three-dimensional environments. By leveraging the inherent local control and smoothness properties of cubic B-Splines, the proposed method integrates an adaptive knot selection mechanism—optimized via a genetic algorithm—with curvature-aware control point refinement to generate dynamically feasible and smooth flight paths. Simulation studies in a cluttered 3D airspace show that the proposed technique reduces path length and lowers maximum curvature compared to uniform and chord-length-based B-Spline strategies. Despite a moderate computational overhead, the results demonstrate smoother, more stable flight trajectories that adhere to aerodynamic constraints and ensure safe obstacle avoidance. This approach is particularly valuable for near-real-time missions, where flight stability, rapid re-planning, and energy efficiency are paramount. Results emphasize the potential of the proposed method for improving UAV navigation in various applications—such as urban logistics, infrastructure inspection, and search-and-rescue—by providing better maneuverability, reduced energy consumption, and increased operational safety to the UAV agents.
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