Flat trajectory generation for way-points relaxations and obstacle avoidance

Citation:

F. Stoican, Prodan, I., and Dan, P., “Flat trajectory generation for way-points relaxations and obstacle avoidance”, in 23rd Mediterranean Conference on Control and Automation (MED), Torremolinos, Spain, 2015.

Date Published:

06/2015

Abstract:

This paper addresses some alternatives to classical trajectory generation for an autonomous vehicle which needs to pass through a priori given way-points. Using differential flatness for trajectory generation and B-splines for the flat output parametrization, the current study concentrates on constraint relaxations and on obstacle avoidance conditions. The results are validated through simulations over standard UAV dynamics.