Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Reference Trajectory Generation Method with Piecewise Constant Acceleration Condition for the Curved Flight of a Drone

드론의 곡선 비행을 위한 구간별 등가속 조건의 기준 궤적 생성 방법

  • Jang, Jong Tai (Future Aerospace Technology Team, Korea Aerospace Research Institute) ;
  • Gong, Hyeon Cheol (Future Aerospace Technology Team, Korea Aerospace Research Institute) ;
  • Lyou, Joon (Dept. of Electronics Engineering, Chungnam National University)
  • 장종태 (한국항공우주연구원 미래항공우주기술팀) ;
  • 공현철 (한국항공우주연구원 미래항공우주기술팀) ;
  • 유준 (충남대학교 전자공학과)
  • Received : 2016.01.11
  • Accepted : 2016.02.15
  • Published : 2016.03.01
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Abstract

This paper describes a three-dimensional reference trajectory generation method for giving commands to an unmanned air vehicle (UAV). The trajectory is a set of consecutive curves with constant acceleration during each interval and passing through via-points at specified times or speeds. The functional inputs are three-dimensional positions and times (or speeds) at via-points, and velocities at both boundaries. Its output is the time series of position values satisfying the piecewise constant acceleration condition. To be specific, the shape of the trajectory, known as the path, is first represented by splines using third degree polynomials. A numeric algorithm is then suggested, which can overcome the demerits of cubic spline method and promptly generate a piecewise constant acceleration trajectory from the given path. To show the effectiveness of the present scheme, trajectory generation cases were treated, and their speed calculation errors were evaluated.

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References

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