Smooth trajectory generation algorithm for an unmanned aerial vehicle (UAV) under dynamic constraints: Using a quadratic Bezier curve for collision avoidance

Abstract

This paper proposes an efficient quadratic Bezier curve based approach for path planning of a quadcopter. It provides a path planning algorithm for the generation of smooth trajectories bounded by dynamic constraints of a quadcopter ensuring less computational load. The trajectories are required to be generated using available coordinates, including starting point and the point of obstacle provided by sensors. The algorithm suggests a method finding the end point and intermediate point in terms of available data. And quadratic Bezier curve is then formed using starting point, ending point and intermediate control point to generate trajectories for the quadcopter. The derived intermediate control point is changed appropriately avoiding collision with the identified obstacle. And it is changed in a manner, providing easy convergence to the original path. Once the path is generated with continuous and bounded curvature, the velocity of the quadcopter along the path is varied continuously and if required varied to its maximum level by ensuring its acceleration is within its acceptable limits. The controlling of acceleration is carried out considering the maximum angle of rotation about its three axes. And projections of planes are used to address the obstacle avoidance situation in a 3 dimensional aspect.