Features of taking into account kinematic constraints when planning the UAV trajectory

Abstract

Features of taking into account kinematic constraints when planning the UAV trajectory

Kostyukov V.A., Gissov V.G., Evdokimov I.D.

Incoming article date: 14.10.2023

This article proposes a method for correcting the intermediate trajectory obtained by one of the planning methods, taking into account the limitations on the linear velocity and acceleration of the apparatus, as well as on the angle of its pitch. This technique is combined with the smoothing procedure, which includes the stage of minimizing the length of a piecewise polyline trajectory and rounding the corners at the vertices with the construction of a smooth time parametric representation of it using the modified Dubins method.

Keywords: robotics complex, unmanned aerial vehicle, stability and controllability of the vehicle, motion planning, local adjustment of the planned trajectory, reduction of energy costs