Online Four-Dimensional Trajectory Planning for eVTOL Based on Rolling Optimization

Aiming at the collaborative optimization of global accuracy and computational efficiency in four-dimensional eVTOL trajectory planning, this work investigates an online four-dimensional trajectory planning method based on rolling optimization. By describing path planning and trajectory optimization within a common problem framework, standardizing dynamic constraints, kinematic constraints, environmental constraints, and objective functions, the conflicts between the constraints in the two types of problem-solving are avoided. A rolling optimization-based online four-dimensional trajectory planning method is proposed, utilizing an event-triggered mechanism to cope with uncertainties during task execution, and adopting a rolling optimization approach to update the local pending-flight trajectory in real-time, enabling rapid calculation of flight paths. Simulation and test flight results show that the proposed method can quickly generate safe and feasible flight trajectories in unknown local environments, with local trajectory rolling solution times on the order of 10−2 s, meeting the requirements for online four-dimensional trajectory planning.