Hamed Pourazad - Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan, Isfahan Province, IRAN
Javad Askari - Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan, Isfahan Province, IRAN
Saeed Hosseinia - Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan, Isfahan Province, IRAN
Ata Nazari - Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan, Isfahan Province, IRAN

Flyable Trajectory Generation problem for Unmanned Aerial Vehicles (UAVs) is designing a path which takes the aircraft movement restrictions (e.g. pitch up angle, pitch down angle, maximum curvature, maximum speed, etc.) into consideration, and provides a timeframe for the mission. This problem is especially important when designing trajectories for cooperative simultaneous arrival missions; where the objective is to provide multiple UAVs arrive within a narrow time window. In this paper, we used Pythagorean Hodograph (PH) Curves algorithm to design a feasible and flyable trajectory which considers the mentioned restrictions. In this paper, a new perspective to calculate the polynomial coefficients is presented, which makes calculation easier, and provides a suboptimal solution. Simulations results for three different scenarios indicate that the designed path is tracked accurately, and movement restrictions are met.

UAV, Cooperative Flight, PH Curves, Trajectory generation, Trajectory Tracking