trajectory planning

[bvanderveen]

other ideas

• way point sequences/linger
• save GPS location to return home/mission destination/etc
• maintain pattern w.r.t. ground despite wind
   - transitioning between trajectories/modes

[bvanderveen]

So we can basically follow headings, which is pretty close to following waypoint sequences. The question becomes where to put the waypoints and how to make sense of them.

This paper describes a path-following algorithm (and also constructs optimum paths for viewing/tracking objects with pan/tilt camera):
http://www.aa.washington.edu/research/afsl/publications/rysdyk2003uav.pdf

This one deals with ground-tracking and wind and waypoint sequences:
https://www.aa.washington.edu/research/afsl/publications/osborne2005waypoint.pdf

There's also this Frenet-Serret thing people talk about.
http://www.disam.upm.es/~barrientos/Publications_files/ICRA%202010%20Backstepping_FST.pdf
http://en.wikipedia.org/wiki/Frenet%E2%80%93Serret_formulas

[bvanderveen]

Closed by 1e4d747.