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Trajectory planning of dynamic systems, in near real-time, is important for aerospace systems, specially, unmanned air vehicles and launched munitions. Trajectory plans that do not consider the governing dynamic equations, applicable path and actuator constraints may be unrealizable during execution. The purpose of this paper is to propose a trajectory planning scheme for a class of dynamic systems, referred to as differentially flat systems. The planner is motivated from on-line computations and is aimed to satisfy the state equations, path and actuator constraints, and given initial and terminal constraints. The essence of the approach is demonstrated by two examples: (i) a hardware implementation on a spring-mass-damper system to demonstrate real-time capabilities during pursuit; (ii) trajectory planning of a PVTOL to illustrate the application to nonlinear problems.
Faiz et al. (Thu,) studied this question.