Effective angular constrained trajectory generation for thrust-propelled vehicles

This paper proposes a novel approach to impose constraints on angles and angular velocities for the trajectory generation of thrust-propelled underactuated vehicles. The con- straints formulation requires only the translational acceleration and jerk values, without requiring the vehicle's attitude. Hence, the proposed angular constraints are satisfied even if the direction angle is designedly modified or it varies uncontrollably under unexpected events. Discussions over simulation results and comparisons with the existing methods in the literature highlight the benefits of our approach.