PLANNING OF FLYING VEHICLE PATHS WITH THE USE OF SMOOTH TRAJECTORIES
S. A. Belokon', Yu. N. Zolotukhin, A. A. Nesterov
Institute of Automation and Electrometry, Siberian Branch, Russian Academy of Sciences, 630090, Novosibirsk, prosp. Akademika Koptyuga, 1
Keywords: летательный аппарат, планирование траектории, поворотные пункты маршрута, спираль Корню (клотоида), ограничение перегрузки, flying vehicle, trajectory planning, turning points of the path, Cornu spiral (clothoid), g-load restriction
Abstract
A simplified method of plane trajectory calculation is proposed for solving the problem of planning the path defined by a sequence of turning points. The trajectory consists of oriented segments of straight lines joined by clothoids (Cornu spirals). The efficiency of the method is validated by means of numerical simulations in the MATLAB/Simulink environment.
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