Aerial Vehicle Trajectory Planning with Split 2D Search Spaces
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Solution Overview
Problem
Existing trajectory planning methods for aerial vehicles in three-dimensional space are inefficient, consuming excessive computing power and struggling to ensure compliance with regulatory constraints, especially in complex environments, leading to difficulties in verifying solutions and optimizing flight trajectories.
Innovation Solution
A modular trajectory planning method that divides the three-dimensional space into separate planes or areas for vertical and horizontal planning, allowing for step-by-step optimization and exclusion of inadmissible states, with the ability to dynamically adjust to changing conditions and incorporate human intervention, using a cascading approach to combine results and account for specific flight phases and environmental factors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If trajectory planning is performed in full three-dimensional space, then complete flight trajectories can be generated, but computing power consumption increases significantly
Solution Approach 1:
The patent divides the three-dimensional trajectory planning problem into separate two-dimensional planning steps (horizontal plane and vertical plane). The controller performs independent planning in each plane and combines the results, thereby segmenting the complex 3D search space into manageable 2D components that require significantly less computing power while still generating complete flight trajectories.
2Reliability
If the search space is restricted to ensure regulatory compliance, then conformity with rules is improved, but the solution-finding process becomes more difficult to verify
Solution Approach 1:
The patent incorporates regulatory constraints and safety rules directly into the two-dimensional planning process before trajectory generation. By pre-defining admissible states and transitions that already satisfy regulatory requirements, the system ensures compliance is built into the solution from the start, making verification straightforward through inspection of the planning logic rather than post-hoc analysis of complex search processes.
3Manufacturing precision
If complex search spaces are explored to find optimal trajectories, then trajectory quality may be improved, but computing power is consumed excessively
Solution Approach 1:
The patent segments the trajectory optimization problem into independent two-dimensional planning tasks. By performing separate horizontal and vertical planning with simplified search spaces in each plane, the system achieves sufficient trajectory quality without the exponential computing power consumption that would result from exploring the full three-dimensional search space.
4Speed
If real-time trajectory generation is required, then responsiveness is improved, but computing power requirements increase
Solution Approach 1:
The patent enables real-time trajectory generation by segmenting the planning problem into computationally lightweight two-dimensional planning steps. The independent horizontal and vertical planning can be executed quickly with minimal computing power, allowing the system to generate trajectories in real-time while maintaining low energy consumption at the controller.
Data Source
AI summary
A trajectory planning method for determining a flight trajectory (FB) for an aerial vehicle (1) in a three-dimensional space from a starting point (VP1) to a finishing point (VP2), in which a) a first trajectory planning, confined to a first plane or area in the three-dimensional space, is carried out in order to obtain a first trajectory planning result with a first trajectory profile (BP1); b) a second trajectory planning, confined to a second plane or area (SE), different from the first plane or area in the three-dimensional space, is carried out in order to obtain a second trajectory planning result; and c) the first trajectory planning result and the second trajectory planning result are combined to form an overall trajectory planning result for the flight trajectory (FB).