32th Congress of the International Council of the Aeronautical Sciences

06.2 - Flight Dynamics and Control (UAV related)

MULTI-UAV TRAJECTORY PLANNING BASED ON COORDINATION VARIABLES

X. Zheng╣, S. He╣, D. Lin╣; ╣Beijing Institute of Technology, China

This paper studys the cooperative time constraint problem of multiple UAVs, while establishing minimum snap trajectory planning model and designing a controller to track the trajectory for a single UAV. In the cooperative time constraint problem, coordination variables using the time generated by the trajectory planning algorithm and coordination functions are selected as cooperative strategy.


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