Online trajectory generation using clothoid segments
Volker Schneider, Patrick Piprek, Simon P. Schatz, Thaddäus Baier, Dorhofer Christoph, Markus Hochstrasser, Agnes Gabrys, Erik Karlsson, Christoph Krause, Patrick J. Lauffs, Nils Christian Mumm, Nurnberger Kajetan, Lars Peter, Phillip G. Spiegel, Lukas Steinert, Alexander W. Zollitsch, Florian Holzapfel · 2016
In this paper, a trajectory generation algorithm within an integrated flight guidance and control system is presented. The approach uses clothoids to deal with the problem of curvature steps during the transition phase between straight line and arc flight. The algorithm is designed in interaction with a trajectory controller for 2ndorder error dynamics, which hence requires more trajectory information than a conventional approach. The presented test results were obtained via in-flight tests with an experimental CS 23 aircraft.