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Gradient-based trajectory planner of real-time obstacle avoidance for fixed-wing unmanned aerial vehicles in cluttered environments

Ziyu DU Guangtong XU Zhu WANG Ziyang MENG

中国航空学报（英文版）2026，Vol.39Issue(8)：560-577,18.

中国航空学报（英文版）2026，Vol.39Issue(8)：560-577,18.DOI:10.1016/j.cja.2026.104108

Gradient-based trajectory planner of real-time obstacle avoidance for fixed-wing unmanned aerial vehicles in cluttered environments

Ziyu DU ¹Guangtong XU ²Zhu WANG ³Ziyang MENG¹

作者信息

1. Department of Precision Instrument,Tsinghua University,Beijing 100084,China
2. Huzhou Institute,Zhejiang University,Huzhou 313000,China
3. Department of Automation,North China Electric Power University(Baoding),Baoding 071003,China
折叠

摘要

关键词

Differential flatness/Dynamical feasibility/Fixed wings/Gradient descent optimiza-tion/Real-time trajectory planning

Key words

Differential flatness/Dynamical feasibility/Fixed wings/Gradient descent optimiza-tion/Real-time trajectory planning

引用本文复制引用

Ziyu DU,Guangtong XU,Zhu WANG,Ziyang MENG..Gradient-based trajectory planner of real-time obstacle avoidance for fixed-wing unmanned aerial vehicles in cluttered environments[J].中国航空学报（英文版）,2026,39(8):560-577,18.

基金项目

This work was supported in part by the Huzhou Natural Science Foundation,China(No.2024YZ04),the Tsinghua-Toyota Joint Research Fund,China,the National Natural Science Foundation of China(Nos.62273195 and 62203256),and the Beijing Natural Science Foundation,China(No.L252095). （No.2024YZ04）

中国航空学报（英文版）

ISSN：1000-9361

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