Flat trajectory generation for way-points relaxations and obstacle avoidance
Florin Stoican, Ionela Prodan, Dan Popescu · 2015
This paper addresses some alternatives to classical trajectory generation for an autonomous vehicle which needs to pass through a priori given way-points. Using differential flatness for trajectory generation and B-splines for the flat output parametrization, the current study concentrates on constraint relaxations and on obstacle avoidance conditions. The results are validated through simulations over standard UAV dynamics.