TOP-UAV: Open-Source Time-Optimal Trajectory Planner for Point-Masses Under Acceleration and Velocity Constraints
Fabian Meyer,Katharina Glock,David Sayah,Fabian Meyer,Katharina Glock,David Sayah
In the latest research for unmanned aerial vehicles (UAVs), time-optimal trajectory planning of a point-mass with acceleration as control input and constrained maximum velocity (TOT-PMAV) has proved to be very promising for UAV behavior planning. They can be calculated within microseconds and tracked with high precision by modern trajectory tracking controllers like model predictive control (MPC)....
