Principle of the JITEP (IMAGE)
Caption
The JITEP generates spatial trajectories that satisfy the differential constraints of fixed-wing UAVs only when needed. It does not require the pre-determination of multiple maneuver forms. Given the aircraft state at the current waypoint and the position of the successor waypoint, the JITEP utilizes the full-state six-DOF dynamics model and controller of the fixed-wing UAV to constrain the trajectory generation process, ensuring the uniqueness of the generated trajectory. Once the trajectory is successfully expanded, the aircraft state at the successor waypoint is added to the aircraft state tree. This ensures the continuity of the aircraft state at waypoints during the generation of the aircraft state tree.
Credit
Chinese Journal of Aeronautics
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