Real Time, Trajectory generation, UAVs, Unmanned Air Vehicles
Sponsorship: AFOSR, DARPA. This paper presents a real-time, feasible trajectory generation algorithm for unmanned air vehicles (UAVs) flying through a sequence of waypoints. The algorithm produces extremal trajectories that transition between straight-line path segments in a time-optimal fashion. In addition, the algorithm can be configured so that the dynamically feasible trajectory has the same path length as the straight-line waypoint path. Implementation issues associated with the algorithm are described in detail. Simulation studies show the effectiveness of the proposed method.
Original Publication Citation
Erik P. Anderson , Randal W. Beard , Al W. Beard , Timothy W. McLain. Real Time Dynamic Trajectory Smoothing for Uninhabited Aerial Vehicles. IEEE Transactions on Control Systems Technology, 2003.
BYU ScholarsArchive Citation
Anderson, Erik; Beard, Randal; and McLain, Timothy W., "Real Time Dynamic Trajectory Smoothing for Uninhabited Aerial Vehicles" (2003). All Faculty Publications. 515.
Ira A. Fulton College of Engineering and Technology
Electrical and Computer Engineering
Submitted to IEEE Transactions on Control Systems Technology
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