In UAV smooth motion planning, the cubic spline method is the most used to fit the path point with corresponding time interval. Using cubic spline and time reallocation mechanism, we can obtain a smooth trajectory that satisfies the dynamic constraints.
Reference List
- Sun, Y., Zhang, C., Sun, P., & Liu, C. (2020). Safe and smooth motion planning for mecanum-wheeled robot using improved RRT and cubic spline. Arabian Journal for Science and Engineering, 45, 3075-3090.