Trajectory Planning of UAV Group: Pythagorean Hodograph and Bernstein-Bezier Composite Curves in the Plane

In this article the method of the trajectory building of the UAV group motion by approximation of Pythagorean Hodograph and Bernstein-Bezier polynomial has been presented. The group consisted of three UAVs moves in the safety circles along the trajectories, which provide a minimum of the energy functionality. The motion of three UAVs from the starting point to the goal has been presented. The flight was carried out under ideal condition without any obstacles on the way. Focusing on the points of the beginning of the target motion, every UAV built its trajectory on five supportive points of the leading UAV. The presented algorithm illustrates the satisfying level of performance. It deals successfully with the trajectory building of the UAV group motion.