Chapter 9

Trajectory Generation, Planning & Tracking*

Abstract

This chapter deals with key elements that guarantee the autonomy of an aerial vehicle: trajectory planning, generation, and following. For this the equations of motion of the aerial vehicle are rewritten in two forms.The first considers the craft as a point and describes only the vehicle's translational kinematics. This model is used for trajectory planning and generation phases, while the second, known as a rigid body model, includes the vehicle's full dynamics and is employed for tracking controller. The proposed trajectory planning and generation approach is based on an optimality notion in which the objective is to reduce traveling time, to include wind effect, and to respect ...

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