Three-Dimensional Curvature-Constrained Trajectory Planning Based on In-Flight Waypoints

摘要

This paper proposes an efficient algorithm with a novel procedure for trajectory planning of unmanned aerianvehicles in three-dimensional space. This work has been motivated by a challenge to develop a fast trajectorynplanning algorithmfor autonomous unmanned aerial vehicles through themidcoursewaypoints.Thewaypoints thanare defined as a preflight or in-flight procedure are described in a five-dimensional configuration: the position innthree dimensions plus desired crossing heading and flight-path angles. For achieving the waypoints, the Dubins pathnis extended to three-dimensional applications by using the geometrical concepts. In addition, the trajectory planningnalgorithmis represented as a set of ordinary differential equations called optimal-constrained-trajectory kinematicnby applying the differential geometry concepts. Optimal-constrained-trajectory kinematic is a closed-loop guidancnlawthat generates the guidance commands based on thewaypoint configuration andminimumturning radius and insolved in a real-time manner. The proposed algorithm includes an operational framework that leads to graduallyngenerating the smooth three-dimensional trajectory, aimed at reaching themidcourse targets and final target so thanthey are smoothly connected to each other. Finally, the simulation results show the capability of the algorithm inndynamic trajectory planning in low computational burden.