Trajectory Generation with Way-Point Constraints for UAV Systems

Citation:

F. Stoican and Popescu, D., “Trajectory Generation with Way-Point Constraints for UAV Systems”, in Advances in Robot Design and Intelligent Control, vol. 371, Springer, 2015, p. 379-386.

Series Title:

Advances in Intelligent Systems and Computing

Chapter:

38

ISBN:

978-3-319-21289-0

Abstract:

This paper addresses some alternatives to classical trajectory generation for an unmanned aerial vehicle (UAV) which needs to pass through (or near) a priori given way-points. Using differential flatness for trajectory generation and B-splines for the flat output parameterization, the current study concentrates on flat descriptions which respect to UAV dynamics and verify way-point constraints.

DOI:

10.1007/978-3-319-21290-6_38