Publisher : Institute of Control, Robotics and Systems
DOI : 10.5302/J.ICROS.2016.16.0005
Title & Authors
A Reference Trajectory Generation Method with Piecewise Constant Acceleration Condition for the Curved Flight of a Drone Jang, Jong Tai; Gong, Hyeon Cheol; Lyou, Joon;
This paper describes a three-dimensional reference trajectory generation method for giving commands to an unmanned air vehicle (UAV). The trajectory is a set of consecutive curves with constant acceleration during each interval and passing through via-points at specified times or speeds. The functional inputs are three-dimensional positions and times (or speeds) at via-points, and velocities at both boundaries. Its output is the time series of position values satisfying the piecewise constant acceleration condition. To be specific, the shape of the trajectory, known as the path, is first represented by splines using third degree polynomials. A numeric algorithm is then suggested, which can overcome the demerits of cubic spline method and promptly generate a piecewise constant acceleration trajectory from the given path. To show the effectiveness of the present scheme, trajectory generation cases were treated, and their speed calculation errors were evaluated.