Multi-UAV spatiotemporal planning design based on minimum control trajectories

The study addresses the backend trajectory planning problem in unmanned aerial vehicle (UAV) path planning, introducing a spatiotemporal parameterization method for UAV flight trajectories. It incorporates a multi-stage unconstrained minimum control (MINCO) effort spatiotemporal parameterization approach, models the trajectory optimization problem, designs penalty functions, and constrains modeling to transform the multi-constraint trajectory optimization problem into an unconstrained optimization problem, thereby obtaining the spatiotemporal optimal trajectory. Simulation validates that the MINCO algorithm effectively utilizes the degrees of freedom of each trajectory segment in adjusting time, thereby achieving lower conservatism compared to traditional trajectory representation methods and reaching closer to performance limits, resulting in the generation of efficient flight trajectories.