Simple Trajectory Smoothing for UAV Reference Path Planning Based on Decoupling, Spatial Modeling and Linear Programming

TL;DR

This paper introduces a simple, decoupled trajectory smoothing method for UAV path planning based on linear programming and spatial modeling, validated through simulations.

Contribution

It presents a novel, simplified approach for UAV trajectory smoothing that leverages decoupling, spatial modeling, and linear programming, with extensions to aerobatic and terrain-adapted flight.

Findings

Method enables algebraic control of flight-path angle and speed.

Small linear program optimizes roll angle control.

Validated in simulations demonstrating effectiveness.

Abstract

A method for trajectory smoothing for UAV reference path planning is presented. It is derived based on the dynamics of a Dubins airplane model, and involves a decoupling step, spatial modeling and linear programming. The decoupling step enables algebraic control laws for flight-path angle and speed control. Only for roll angle control an optimization step is applied, involving the solution of a small linear program. Two variations are discussed. They differ by reference centerline tracking and the introduction of a path shaping constraint. The benefit of natural dimensionality reduction for spatial modeling is discussed. The simplicity of the overall method is highlighted. An extension to aerobatic flight is outlined, which comes at the cost of a model approximation, however at the gain of maintaining the general model structure. An extension of the method to tractor path planning along 3D terrain is discussed. The method is validated in simulations.