Research progress and prospect of trajectory generator

Table 1. Details of motion state
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Table 1. Details of motion state
参数运动状态
加速直飞匀速直飞匀速左转匀速爬升匀速直飞
持续时间/s 50 30 50 20 50
加速度/(m∙s⁻²) 1 0 0 0 0
角速度/((°)∙s⁻¹) 0，0，0 0，0，0 0，0，2 2，0，0 0，0，0

Table 2. Comparison of characteristics of three kinds of trajectory generator
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Table 2. Comparison of characteristics of three kinds of trajectory generator
特点理想型数值算法型数学模型型
实现难度 A B C
轨迹参数准确性 C A B
仿真评估灵活性 B C A
运动场景多样性 C B A

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Xian DING, Hongwei BIAN, Rongying WANG, Heng MA. Research progress and prospect of trajectory generator[J]. Chinese Journal of Ship Research, 2024, 19(2): 215

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