Geometric-Dynamic Trajectory: A Quaternion Pythagorean Hodograph Curves Approach

What is it about?

Trajectory generation for autonomous vehicles using a technique adapted from computer animation is presented to include the aircraft orientation directly in the trajectory. This allows for more detailed evaluation of the trajectory without the need for additional steps to model the orientation afterwards. The technique is based on an approach that is universally applicable to various vehicle types, which allows for better cooperation between autonomous systems. The trajectory is also divided into smaller segments, allowing for application to larger more complex scenarios.

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