Trajectory Planning and Control for Differentially Flat Fixed-Wing Aerial Systems

-- Efficient real-time trajectory planning and control for fixed-wing unmanned aerial vehicles is challenging due to their non-holonomic nature, complex dynamics, and the additional uncertainties introduced by unknown aerodynamic effects. In this paper, we present a fast and efficient real-time trajectory planning and control approach for fixed-wing unmanned aerial vehicles, leveraging the differential flatness property of fixed-wing aircraft in coordinated flight conditions to generate dynamically feasible trajectories. The approach provides the ability to continuously replan trajectories, which we show is useful to dynamically account for the curvature constraint as the aircraft advances along its path. In recent years, the deployment of small Fixed-Wing Unmanned Aerial V ehicles (FW-UA Vs) has significantly increased across various applications, including environmental monitoring [1], low-altitude surveillance [2], and support for first responders in search and rescue operations [3]. Their popularity is primarily due to their superior endurance, extended operational range, and lower energy consumption compared to traditional V ertical Take-Off and Landing (VTOL) platforms like quadrotors. Since FW-UA Vs cannot hover in place or execute sharp turns and must maintain continuous motion to remain airborne, accurate trajectory planning and precise tracking are essential for their safe operations.