부산대학교 도서관

Time-optimal path planning in high winds for a turning-rate constrained Uncrewed Aerial Vehicle is a challenging problem to solve and is important for deployment and field operations. Previous works have used trochoidal path segments comprising straight and maximum-rate turn segments, as optimal extremal paths in uniform wind conditions. Current methods iterate over all candidate trochoidal trajectory types and select the one that is time-optimal; however, this exhaustive search can be computationally slow. In this letter, we introduce a method to decrease the computation time. This is achieved by reducing the number of candidate trochoidal trajectory types by framing the problem in the air-relative frame and bounding the solution within a subset of candidate trajectories. Our method reduces overall computation by 37.4% compared to pre-existing methods in Bang-Straight-Bang trajectories, freeing up computation for other onboard processes and can lead to significant total computational reductions when solving many trochoidal paths. When used within the framework of a global path planner, faster state expansions help find solutions faster or compute higher-quality paths.