Low Computational Cost for Multiple Waypoints Trajectory Planning: A Time-Optimal-Based Approach

Abstract

Multiple Waypoints Trajectory Planning

In article number 2400363, Da-hui Lin-Yang, Francisco Pastor, and Alfonso J. García-Cerezo present a time-optimal trajectory planner for drones, computing minimal-time multi-waypoint trajectories. The cover highlights drones navigating pre-planned paths with precision, visualized through colorful arcs. The experiments were conducted in a motion capture system, ensuring accurate trajectory tracking and validation in controlled environments. This work advances rapid and efficient motion planning.