Constrained trajectory generation for UAV systems using a B-spline parametrization

摘要

This paper extends some previous work on trajectory generation for UAV (Unmanned Aerial Vehicles) using differential flatness in combination with B-splines parametrization. The originality of this work resides in the geometrical interpretations of the B-splines properties and their use in generating feasible flat trajectories for nonlinear UAV dynamics while ensuring continuous constraint validation. Of particular interest (and difficulty) are constraints involving system inputs since often the mapping between the input and the flat output space is strongly nonlinear. The tools used and the results obtained are exemplified over a particular UAV dynamical system and can be generalized to any nonlinear system admitting a flat description.