In most cases, a flyable path can be obtained eventually.
Yao Peng, Wang Honglun, Su Zikang 2015, 'UAV feasible path planning based on disturbed fluid and trajectory propagation', Chinese Journal of Aeronauticshttp://www.sciencedirect.com/science/article/pii/S100093611500120X. Retrieved from DOAJ CC BY 4.0 (https://creativecommons.org/licenses/by-sa/4.0/legalcode)