The trajectory planning of UAV with nonholonomic constraints is usually taken as differential algebraic equation to solve the optimal control problem of functional extremum under the condition of inequality constraints. However, it can be challenging to meet the requirements of real-time for the high complexity. A differential flat theory based on B-spline trajectory planning can replace the optimal control problem with nonlinear programming and be a good means to achieve the efficient trajectory planning of an UAV under multiple dynamic constraints. This research verifies the feasibility of this theory with actual flight experiments.


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    Title :

    Real-Time Trajectory Planning and Control for Constrained UAV Based on Differential Flatness


    Contributors:
    Dongli Wu (author) / Hao Zhang (author) / Yunping Liu (author) / Weihua Fang (author) / Yan Wang (author)


    Publication date :

    2022




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown