Abstract
The aim of this paper is to provide a realistic stochastic trajectory generation method for unmanned aerial vehicles that offers a tool for the emulation of trajectories in typical flight scenarios. Three scenarios are defined in this paper. The trajectories for these scenarios are implemented with quintic B-splines that grant smoothness in the second-order derivatives of Euler angles and accelerations. In order to tune the parameters of the quintic B-spline in the search space, a multi-objective optimization method called particle swarm optimization (PSO) is used. The proposed technique satisfies the constraints imposed by the configuration of the unmanned aerial vehicle (UAV). Further particular constraints can be introduced such as: obstacle avoidance, speed limitation, and actuator torque limitations due to the practical feasibility of the trajectories. Finally, the standard rapidly-exploring random tree (RRT*) algorithm, the standard (A*) algorithm and the genetic algorithm (GA) are simulated to make a comparison with the proposed algorithm in terms of execution time and effectiveness in finding the minimum length trajectory.
Highlights
In the last decade, unmanned aerial vehicles (UAVs), mostly known as an autonomous aerial vehicles, have been used in numerous military, aerial photography, agricultural and surveillance applications
The proposed algorithm can be used for any configuration of UAVs, but we focus on a quadrotor
In each flight scenario the start point, end point and a number of control points are defined by the user
Summary
In the last decade, unmanned aerial vehicles (UAVs), mostly known as an autonomous aerial vehicles, have been used in numerous military, aerial photography, agricultural and surveillance applications. UAVs can be classified into three significant groups: fixed-wing UAVs, rotary-wing UAVs and hybrid-layout UAVs [1]. The advantages of fixed-wing UAVs are the high-speed and the ability to fly for long distances. Mechanical systems for landing and take-off, for example the landing gear, have to be installed. Spacious structures, e.g., landing strips, have to be built. In small areas with obstacles, vertical take-off and landing (VTOL) and the ability to hover in a motionless spot are crucial. VTOL UAVs have greater maneuverability in indoor flight. Hybrid-layout UAVs have both long distance flight and VTOL properties. They have complex mechanisms for changing from rotary wing to fixed wing during the flight
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
