Trigonometric Series-Based Smooth Flight Trajectory Generation
Haichao Hong, Patrick Piprek, Rubens J. M. Afonso, Florian Holzapfel
Abstract
In practical scenarios, flight trajectories shall be smooth to comply with the required curvature behavior. This article describes a trajectory generation method that is able to produce smooth control commands with an arbitrary order of smoothness. The system inputs are formulated analytically as trigonometric series in which the coefficients are to be determined by optimization. Effective implementations of the proposed method are presented. These include a numerical benchmark that shows how the order of the series shapes the results as well as the comparison with the optimal solution, and the unmanned aerial vehicle transition trajectory generation using a convex optimization framework integrated with the proposed design.