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Development of a method for optimizing the trajectory of a obstacle-free environment based on Bezier curves with a Pythagorean hodograph

Abstract

Development of a method for optimizing the trajectory of a obstacle-free environment based on Bezier curves with a Pythagorean hodograph

Vinokursky D.L., Ganshin K. Y., Mezentseva O.S., Samoilov Ph.V.

Incoming article date: 15.05.2023

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