APPROXIMATE THREE-DIMENSIONAL PATH GENERATION FOR UAV PATH-FOLLOWING

摘要

A three-dimensional curve fitting method isproposed for approximation of a trajectoryobtained as the result of numerical optimization.The proposed algorithm selects the waypointsamong the given three-dimensional trajectorydata points, and the trajectory data points arefitted to a three-dimensional polynomial curve inthe weighted least squares sense. Generated pathcan be utilized for unmanned aerial vehicle pathfollowing.Numerical simulation is performed todemonstrate the performance of the proposedcurve fitting scheme.