Configuration Space and Visibility Graph Generation from Geometric Workspaces for UAVs

We address the challenge of generating a visibility graph for 3D path planning for a smallscale helicopter through an environment with geometric obstacles.The visibility graph is based on approximating a number of continuous differentiable configuration space obstacles that are generated from the convex hull of their work space obstacles.An approximation to the optimal path can subsequently be found using an existing graph search algorithm.The indented use of our approach is in well-known environments.Our approach is used in a test scenario for generating a path for a small-scale helicopter inspecting a wind turbine.