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Trajectory Generation with Way-Point Constraints for UAV Systems

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Advances in Robot Design and Intelligent Control

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 371))

Abstract

This paper addresses some alternatives to classical trajectory generation for an unmanned aerial vehicle (UAV) which needs to pass through (or near) a priori given way-points. Using differential flatness for trajectory generation and B-splines for the flat output parameterization, the current study concentrates on flat descriptions which respect to UAV dynamics and verify way-point constraints.

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Notes

  1. 1.

    Such a relaxation of the constraints makes sense in an UAV context. At a way-point \(w_{k}\) one needs to acquire data (photographs, information sent from the ground by a sensor network, and the like); still, we do not need to be in exactly the predefined point in order to accomplish the task, rather we can consider a certain area around the way-point.

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Acknowledgement

The work has been partially funded by the Sectorial Operational Programme Human Resources Development 2007–2013 of the Ministry of European Funds through the Financial Agreement [grant number POSDRU/159/1.5/S/132395] and by National Research Programme STAR, project 71/2013: Multisensory robotic system for aerial monitoring of critical infrastructure systems—MUROS.

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Authors and Affiliations

  1. Politehnica University of Bucharest, Bucharest, Romania

    Florin Stoican & Dan Popescu

Authors
  1. Florin Stoican
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  2. Dan Popescu
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Corresponding author

Correspondence to Florin Stoican .

Editor information

Editors and Affiliations

  1. Fac of Auto Ctrl & Comp Sci (Automatica), University Politehnica of Bucharest, Bucharest, Romania

    Theodor Borangiu

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Stoican, F., Popescu, D. (2016). Trajectory Generation with Way-Point Constraints for UAV Systems. In: Borangiu, T. (eds) Advances in Robot Design and Intelligent Control. Advances in Intelligent Systems and Computing, vol 371. Springer, Cham. https://doi.org/10.1007/978-3-319-21290-6_38

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  • DOI: https://doi.org/10.1007/978-3-319-21290-6_38

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-21289-0

  • Online ISBN: 978-3-319-21290-6

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