Taha Chettibi
UAV, dynamics, trajectory, optimization, direct method
This paper addresses the problem of offline trajectory planning for small fixed-wing unmanned aerial vehicles (UAVs) under various constraints and proposes a simple direct method to solve it. The dynamic behaviour of the UAV is modelled using the three-dimensional point-mass model which accounts for the most significant efforts acting on the system. Restrictions inherent to the system, the assigned task and the environment are also considered. In addition, various forms of the performance index such as minimum time or minimum power consumption are also included. In the proposed planner, trajectory candidates are represented using spline functions fitting a set of free control points. The best candidates are found by solving a nonlinear optimization problem using the sequential quadratic programming method. Numerical simulations corresponding to various tasks are presented to illustrate the efficiency of the proposed approach.
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