Generation of Outbound and Return Trajectories for Small UAVs by Multi-objective Optimization
Suguru TADOKORO, Masayuki NAKAMURA, Hirotaka KITAZUME, Taichi NISHIMURA · Sekkei Kougaku, Shisutemu Bumon Kouenkai kouen rombunshuu/Sekkei Kogaku, Shisutemu Bumon Koenkai koen ronbunshu · 2024
Large UAVs are equipped with geodetic systems such as GPS and various sensors capable of autonomous flight. On the other hand, it is difficult for small UAVs to fly autonomously because it is difficult to acquire location information for self-position estimation. In this study, we propose a method to fly a small UAV to its destination and generate a return trajectory back to its base. 3D point cloud data is used to identify obstacles in the flight space. The UAV flies from the starting point to the target point and back to the starting point by avoiding the obstacles. The trajectory generation problem is formulated as a multi-objective optimization problem. The effectiveness of the proposed method is demonstrated from the generation results of several round-trip trajectories.