Planning and Control of Spatial Motion of Flying Vehicles

Sergey Tkachev, Alexander Krishchenko, Anatoly Kanatnikov

The problem under consideration is planning of spatial trajectories for a flying vehicle. The methods are based on the six-dimensional model with the longitudinal overload, transversal overload and the roll angle as controls. The class of trajectories with the monotone variation of the mechanical energy of a flying vehicle is considered.

The method of constructing the multi-link trajectories by interfacing more than one interval with monotone energy variation is described. Attention is focused on the multi-link trajectories with monotone energy variations. Examples of the two-level algorithm to construct complex spatial trajectories are presented.

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