On-Line Trajectory Planning for Aerial Vehicles: A Safe Approach with Guaranteed Task Completion
David A. Anisi, John William Robinson, Petter Ögren · AIAA Guidance, Navigation, and Control Conference and Exhibit · 2006
... this paper are twofold; by augmenting a so called safety maneuver at the end of the planned trajectory, this paper extends previous results by addressing provable safety properties in a 3D setting. In addition, assuming initial feasibility, the planning method presented is shown to have finite time task completion. Moreover, a quantitative comparison between the two competing objectives of optimality and computational tractability is made. Finally, some other key characteristics of the trajectory planner, such as ability to minimize threat exposure and robustness, are highlighted through simulations.