UAV Trajectory Planning with Path Processing
Robotics
2025-01-15 v1 Systems and Control
Systems and Control
Abstract
This paper examines the influence of initial guesses on trajectory planning for Unmanned Aerial Vehicles (UAVs) formulated in terms of Optimal Control Problem (OCP). The OCP is solved numerically using the Pseudospectral collocation method. Our approach leverages a path identified through Lazy Theta* and incorporates known constraints and a model of the UAV's behavior for the initial guess. Our findings indicate that a suitable initial guess has a beneficial influence on the planned trajectory. They also suggest promising directions for future research.
Cite
@article{arxiv.2407.01366,
title = {UAV Trajectory Planning with Path Processing},
author = {Zdeněk Bouček and Miroslav Flídr and Ondřej Straka},
journal= {arXiv preprint arXiv:2407.01366},
year = {2025}
}
Comments
6 pages, submitted to ICARCV2024 conference