A method for constructing the trajectory for an unmanned aerial vehicle in a city
O. O. Tsaryova, V. Yu. Popov, D. N. Suzansky · Moscow University Physics Bulletin · 2016
A synthesis method for the reference trajectory of an unmanned aerial vehicle that flies around obstacles of urban buildings in the horizontal and vertical planes is proposed. To solve this problem, for the first time a conformal mapping is constructed for a collection of rectangles that approximate the obstacles on the digital map of a terrain.