Trajectory Planning for UAVs Based on Interfered Fluid Dynamical System and Bezier Curves

被引：16

作者：

Celestini, Davide ^{[1
]}

Primatesta, Stefano ^{[1
]}

Capello, Elisa ^{[1
,2
]}

机构：

[1] Politecn Torino, Dept Mech & Aerosp Engn, I-10129 Turin, Italy

[2] CNR IEIIT, I-10129 Turin, Italy

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2022年 / 7卷 / 04期

关键词：

Constrained motion planning; aerial systems; mechanics and control; collision avoidance; UNMANNED AERIAL VEHICLE;

D O I：

10.1109/LRA.2022.3191855

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper, a 3D trajectory planner for Unmanned Aerial Vehicles (UAVs) based on Interfered Fluid Dynamical System (IFDS) and Bezier curves is introduced. The proposed strategy joints the potentialities of IFDS with the use of Bezier curves to obtain optimized trajectories with continuous curvature. While IFDS computes an initial trajectory to safely avoid fixed and dynamic obstacles, Bezier curve optimization generates a trajectory satisfying kinematic constraints. This combination is computationally efficient for online applications with limited hardware and a smoothed path is obtained, for safe and flyable trajectories. Simulations are performed for a fixed-wing UAV in a complex and dynamic environment.

引用

页码：9620 / 9626

页数：7

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