Simulation Research on Time-Optimal Path Planning of UAV Utilizing the Flightmare Platform

Yuling Xin, Xin Lu, Fusheng Li

Abstract:

This paper presents a study on time-optimal path planning and
control for Unmanned Aerial Vehicles (UAVs) using fourth-order
minimum snap trajectory generation and Nonlinear Model
Predictive Control (NMPC) on the Flightmare simulation platform.
Targeting the demands of fast flight in complex environments,
a fourth-order polynomial trajectory planner is designed to minimize
flight time while adhering to dynamical constraints.
Integration with an NMPC and a PID controller enables precise tracking and
dynamic adjustment of planned trajectories.
Experimental results demonstrate that this method generates
efficient and smooth flight trajectories, significantly reducing
flight time while ensuring UAV stability and safety.

Submission Number: 157