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Generation of Window-Traversing Flyable Trajectories Using Logistic Curve*

机译：使用Logistic曲线生成窗平移飞行轨迹*

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摘要

This work considers point-to-point flyable trajectory generation through constrained planar regions referred as windows. A four parameter logistic curve trajectory planning tool is proposed for generating feasible trajectories that (i) connect the given initial and final positions with (ii) smooth bounded velocity and acceleration variations (flyability), and (iii) pass through the prescribed windows. A two-step approach is proposed, first narrowing down the search space to a restricted set in six dimensions, parameterizing a variety of trajectories that satisfy the derived closed-form flyability conditions. The final solutions are found by sampling that set using closed-form window traversal conditions. Numerical examples are presented to analyze the performance of the proposed approach in terms of number of solutions and computation time.
机译：这项工作考虑了通过称为窗口的受约束平面区域的点对点可飞行轨迹生成。提出了一种四参数对数曲线轨迹规划工具，用于生成可行的轨迹，该轨迹（i）将给定的初始位置和最终位置与（ii）平滑的边界速度和加速度变化（可飞行性）相连接，并且（iii）通过指定的窗口。提出了一种两步方法，首先将搜索空间缩小到六个维度的受限集合，然后对满足所推导的闭合形式可飞行性条件的各种轨迹进行参数化。通过使用封闭形式的窗口遍历条件进行设置的采样来找到最终解决方案。给出了数值示例，以根据解决方案数量和计算时间来分析所提出方法的性能。

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