The article describes a way to optimize the trajectory optimization process by replacing the edges of the trajectory with spatial Bezier curves with a Pythagorean hodograph.
Keywords: Algorithms for generating trajectories, methods for constructing the formation of UAV groups, mathematical models of UAVs, multi-agent systems, Bezier curves, Pythagorean hodograph
This article presents an algorithm for predicting and avoiding an obstacle with a single UAV. The proposed method is an extended version of the previous work with the additional collision avoidance capabilities which are based on the building of a bypass curve. In this work, the authors proposed a method for generating trajectories, which uses Bezier curves with the properties of the Pythagorean Hodograph.
Keywords: unmanned aerial vehicle, Bernstein-Bezier polynomials, Pythagorean Hodograph, trajectory generation, obstacle avoidance, programmed motion