Methods of aerial vehicle trajectory planning are provided. The method is used where the aerial vehicle is in an area with one or more obstacles therein and the aerial vehicle has a minimum turn radius. The methods involve finding safe flight corridors, which are constructed from sequences of triangles using constrained Delaunay triangulation of the feasible space. A quadratic Bezier curve corresponding to each triangle in the flight corridor is defined. The trajectory is composed of quadratic Bezier curves that are aligned end-to-end which satisfy the vehicle motion constraints. The method described herein may also be used for path planning.
Method of Aerial Vehicle Trajectory Planning
2024-02-22
Patent
Electronic Resource
English
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