What is it about?

Future missions and emerging platforms such as unpiloted air taxis and personal aerial vehicles will require the ability to generate and follow feasible trajectories. We propose a new approach to generate feasible trajectories in real-time. We derive analytical control solutions for translational accelerations to fly between two waypoints with velocity vector constraints. The analytical solutions can be directly coupled to a flight controller for execution in real-time.

Featured Image

Why is it important?

The guidance scheme is easy to implement and requires minimal computational resources.


When combined with an appropriate path planning algorithm, this technique can enable autonomous flight.

Omkar Halbe
Technische Universitat Munchen

Read the Original

This page is a summary of: Online Waypoint Trajectory Generation Using State-Dependent Riccati Equation, Journal of Guidance Control and Dynamics, December 2019, American Institute of Aeronautics and Astronautics (AIAA),
DOI: 10.2514/1.g003774.
You can read the full text:



The following have contributed to this page