Optimal path planning method with attitude constraints for quadrotor helicopters

This paper proposes a path planning method considering attitude constraints at given geometric points by utilizing the relation between acceleration and attitude. By characterizing the reference path with a parameter vector, optimization technique is introduced to refine the generated path. Numerical simulation with a physical model is also invoked in order to consider the transient response of the path following controller, and the reference path is updated to obtain the feasible path. Results of numerical simulations are also shown in this paper, which validates the proposed approach.