313 Spl. Independentei 060042 Bucharest, Romania
Flat trajectory generation for way-points relaxations and obstacle avoidance
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.
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.