A Method of Smooth Trajectory Planning for UAV
Shen Gongzhang · Jisuanji fangzhen · 2008
Aimed at the issue that the UAV trajectory planning results exist break point,a scheme of smooth trajectory planning for UAV was presented.The UAV's viable nodes were obtained according to the locations of threats and the integrated cost function was constructed by considering both the threats cost and the distance cost.The weighted graph was generated and the reference trajectory was gained by using Dijkstra algorithm.The weights of the cost function can be adjusted according to the mission demands.By adopting the arc fitting method,the final smooth trajectory was generated based on the reference trajectory.The optimal trajectory is flyable for UAV.The simulation results show that the method presented can obtain the smooth trajectory rapidly,which can meet the mission requirements.