Trajectory Planning and Replanning Strategies Applied to a Quadrotor Unmanned Aerial Vehicle

摘要

This Note proposes a trajectory planning/replanning approach where reference trajectories are defined as second-order systems. The main advantage of the proposed approach is that solutions are obtained in a straightforward manner by solving simple equations in the fault-free and fault conditions. Therefore, it has very few calculation requirements and it is very suitable for systems with limited calculation capabilities such as small-scale unmanned aerial vehicles with single-board microcomputers.