경로점 구속조건을 이용한 실용적 최적궤적 생성기법

초록

When waypoints are arranged in close proximity to each other, the resultant trajectories that pass through the specified waypoints are curved, different from conventional navigation problems. This paper presents an algorithm to compute an optimal trajectory that passes through the waypoints while meeting additional constraints on the waypoints. This paper also shows that additional constraints on the waypoints can be used to specify more complex trajectory constraints such as region to avoid or to fly through.