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Optimization of UAV 3D trajectory smoothing based on improved PH curves

This paper aims to solve the problem that when smoothing the UAV trajectory, the common smoothing optimization algorithm will be limited by the UAV flight performance, and it is difficult to guarantee the smoothness and curvature continuity of the whole trajectory. In order to make the UAV flight trajectory meet the actual flight requirements, this paper proposes a UAV 3D trajectory smoothing optimization algorithm based on improved PH curves. To solve the problem of curvature discontinuity between a shaped PH curve, this paper utilizes the properties of the first and second order derivatives of two adjacent PH curves. By subjecting the smoothed segment of the PH curve to the overall smoothing constraint, the entire trajectory can satisfy both the performance constraint and the smooth flyability of the trajectory. From the simulation experiment results, it can be seen that using the improved PH curve smoothing to optimize the UAV 3D flight trajectory can effectively reduce the number of turns during the UAV flight, and smooth the UAV flight trajectory.