The trajectory planning of UAV with nonholonomic constraints is usually taken as differential algebraic equation to solve the optimal control problem of functional extremum under the condition of inequality constraints. However, it can be challenging to meet the requirements of real-time for the high complexity. A differential flat theory based on B-spline trajectory planning can replace the optimal control problem with nonlinear programming and be a good means to achieve the efficient trajectory planning of an UAV under multiple dynamic constraints. This research verifies the feasibility of this theory with actual flight experiments.

中文翻译：

---

基于差分平面度的约束无人机实时轨迹规划与控制

非完整约束无人机的轨迹规划通常采用微分代数方程来求解不等式约束条件下泛函极值的最优控制问题。但是，要满足高复杂性的实时要求可能具有挑战性。基于B样条轨迹规划的微分平面理论可以用非线性规划代替最优控制问题，是实现无人机在多动态约束下的高效轨迹规划的良好手段。本研究通过实际飞行实验验证了该理论的可行性。