Fast trajectory planning based on in-flight waypoints for unmanned aerial vehicles

摘要

Purpose - The purpose of this paper is to propose an efficient algorithm for trajectory planning of unmanned aerial vehicles (UAVs) in 2D spaces. This paper has been motivated by the challenge to develop a fast trajectory planning algorithm for autonomous UAVs through mid-course waypoints (WPs). It is assumed that there is no prior knowledge of these WPs, and their configuration is computed as in-flight procedure. Design/methodology/approach - Since the off-line techniques cannot be applied, it is required to apply an online trajectory planning algorithm. For this reason, based on the optimal control and the geometry, each segment of trajectory is designed with respect to a local frame. The algorithm is implemented as a real-time manner in terms of the down-range variable. Findings - The proposed algorithm tries to find not only a feasible trajectory (the constraint includes the maximum heading angle rate) but also an optimal trajectory (the objective locally is to minimize the length of the path). This online trajectory planning algorithm gradually produces a smooth 2D trajectory aiming at reaching the mid-course WPs and the final target so that they are smoothly connected with each other. The mid-course WPs are described through the given down-range, cross-range, and heading angle. Originality/value - Based on geometrical principles, this algorithm is capable of re-planning the trajectory as in-flight manner, and the computational burden approaches the online capabilities for UAVs with high velocity.