Smooth Trajectory Planning for MAVs with Airspace Restrictions
Saurabh Upadhyay, Ashwini Ratnoo · 2016
The problem of generating smooth trajectories in a bounded airspace having arbitrary shaped no-fly zones and obstacles is considered. Paths derived from Four Parameter Lo- gistic (4PL) curve are proposed as a prospective solution. No-fly zones and obstacles are represented by convex polygons and closed-form analytic conditions are derived for avoiding them. Design parameter space approach is used to generate multiple feasible trajectories between a given set of waypoints with zero end curvature. Advantages of the proposed method are presented by a comparison with existing methods in terms of computational complexity, obstacle avoidance and nature of computation. The proposed methodology of- fers continuous curvature trajectories with zero end curvature which is desirable from MAV implementation perspective. Scenarios with multiple obstacles and waypoints are consid- ered and the solutions are validated on a realistic six-degree-of-freedom (6-DoF) Aerosonde MAV model. The present work offers a new, simple, and analytic approach to continuous curvature trajectory planning with obstacle avoidance.