Survey of UAV motion planning

Motion planning is a vital module for unmanned aerial vehicles (UAVs), especially in scenarios of autonomous navigation and operation. This survey delivers some recent state-of-the-art UAV motion planning algorithms and related applications. The logic flow of this survey is divided as the path finding, which is the front-end of most motion planning systems, and the trajectory optimisation, which usually serves as the back-end. Motivation, methodology, problem formulation and derivation are given in this survey, in detail. Finally, a section about real-world applications is given, where roles and effectiveness of most popular motion planning methods are revealed.