Heading and position receding horizon control for trajectory generation

Computationally adaptive multi-objective trajectory optimization for UAS with variable planning deadlines

“…Polynomial or spline based techniques [6,7] place control points in a particular order to generate the desired trajectory. Geometric based techniques require the concatenation of aircraft flight maneuvers to form a smooth flight track [8][9][10][11]. However, these flight maneuvers are usually limited to cruise and constant radius turns and roll/yaw coupling effects are not considered; an essential flight characteristic of fixed wing platforms.…”