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This paper presents a safe and time-collaborative trajectory planning algorithm for fast flight of rotorcraft unmanned aerial vehicles in complex unstructured environmentsenabling safe passage, which ensures low collision risk and kinematic feasibility. Then, the initial path is discretized into trajectory points corresponding to the maximum flight speed, ensuring rapid and aggressive flight. A B-spline fitting and optimization algorithm further enhances the smoothness, collision avoidance, and kinodynamic feasibility of the trajectory. Finally, to ensure time-collaborative cooperations among multiple UAVs, an iterative time adjustment method is proposed, which also guarantees the smoothness and kinodynamic feasibility after adjustment. The proposed algorithm is validated using UAV kinodynamic simulation models and an unstructured environment built in Unreal Engine, demonstrating enhanced safety, smoothness, high-speed and time-collaboration performance of the trajectory.

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Safe and Time-Collaborative Trajectory Planning Algorithm for Fast Flight of Unmanned Aerial Vehicles in Complex Unstructured Environments

  • 会议论文

  • 发表日期：

    2026年

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  • Zhenhua Zhang,
  • Jiang Bian,
  • Tianchang Nie,
  • Yuhua Li,
  • Xuezhi Liang,
  • Pengfei Guo,
  • Boshan Che,
  • Junhui Li,
  • Chaomeng Guo,
  • Menghan Jiao,
  • Haijie Guan

摘要

This paper presents a safe and time-collaborative trajectory planning algorithm for fast flight of rotorcraft unmanned aerial vehicles in complex unstructured environmentsenabling safe passage, which ensures low collision risk and kinematic feasibility. Then, the initial path is discretized into trajectory points corresponding to the maximum flight speed, ensuring rapid and aggressive flight. A B-spline fitting and optimization algorithm further enhances the smoothness, collision avoidance, and kinodynamic feasibility of the trajectory. Finally, to ensure time-collaborative cooperations among multiple UAVs, an iterative time adjustment method is proposed, which also guarantees the smoothness and kinodynamic feasibility after adjustment. The proposed algorithm is validated using UAV kinodynamic simulation models and an unstructured environment built in Unreal Engine, demonstrating enhanced safety, smoothness, high-speed and time-collaboration performance of the trajectory.