Abstract
A decoupled approach to trajectory generation based on a cubic spline geometry formulation is introduced. The distinct consideration of boundary conditions yields a continuously differentiable trajectory definition such that path tracking errors are minimized during flight. A curvature-based, dimensionless space-filling curve allows to determine a suitable velocity profile along the path for hover-capable vehicles. Tracking of the trajectory is enabled by a conversion between the spline parameters and the arc length of the spline. In the past years, this approach in combination with a suitable trajectory tracking control has been successfully flight tested with an unmanned helicopter.
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Lorenz, S., Adolf, F.M. (2011). A Decoupled Approach for Trajectory Generation for an Unmanned Rotorcraft. In: Holzapfel, F., Theil, S. (eds) Advances in Aerospace Guidance, Navigation and Control. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-19817-5_1
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DOI: https://doi.org/10.1007/978-3-642-19817-5_1
Publisher Name: Springer, Berlin, Heidelberg
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