Trajectory Planning for UAVs Based on Interfered Fluid Dynamical System and Bézier Curves
Davide Celestini, Stefano Primatesta, Elisa Capello
Abstract
In this paper, a 3D trajectory planner for Unmanned Aerial Vehicles (UAVs) based on Interfered Fluid Dynamical System (IFDS) and Bézier curves is introduced. The proposed strategy joints the potentialities of IFDS with the use of Bézier curves to obtain optimized trajectories with continuous curvature. While IFDS computes an initial trajectory to safely avoid fixed and dynamic obstacles, Bézier 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.
BibTeX
@inproceedings{ral2022_trajectoryplanni,
title = {Trajectory Planning for UAVs Based on Interfered Fluid Dynamical System and Bézier Curves},
author = {Davide Celestini and Stefano Primatesta and Elisa Capello},
booktitle = {RA-L 2022},
year = {2022}
}