Minimal time synthesis for a kinematic drone model

Abstract

In this paper, we consider a (rough) kinematic model for a UAV flying at constant altitude moving forward with positive lower and upper bounded linear velocities and positive minimum turning radius.For this model, we consider the problem of minimizing the time travelled by the UAV starting from a general configuration to connect a specified target being a fixed circle of minimum turning radius.The time-optimal synthesis is presented as a partition of the state space which defines a unique optimal path such that the target can be reached optimally

Optimal Manoeuver Trajectory Synthesis for Autonomous Space and Aerial Vehicles and Robots

“…It has been successfully used for trajectory planning of drones and car-like robots. (Lagache, Serres, andAndrieu, 2017, Wolek, Cliff andWoolsey, 2016). However for the case space vehicles and robots the use of the kinematic equations, particularly formulations based on quaternions and dual quaternions, is relatively new.…”