Dynamically feasible trajectory generation method for quadrotor unmanned vehicles with state constraints

The recent development on micro aerial vehicles (MAV), especially the unmanned quadrotor proposes increased requirements on reference generation. This paper proposed a dynamically feasible, state constrained and smooth trajectory generation method using B-spline. The reference can be shown to satisfy the dynamics of the quadrotor and accurate tracking performance is guaranteed. The algorithm can be applied for filming trajectory design, 3D environment reconstruction and entertainment events. The algorithm has been tested on real vehicles with actual flight experiment with satisfying results.