Trajectory Planning

Trajectory planning converts geometric paths into smooth, dynamically feasible time-parameterized references. The focus is continuity, comfort, and actuator-aware feasibility.

Core Questions

• How much continuity is required at waypoints?
• Which objective balances smoothness versus travel time?
• How should constraints be encoded for aggressive maneuvers?

Algorithms

• Minimum Snap
• Polynomial Trajectory
• Quintic Polynomial
• Frenet Optimal

Prerequisites

• Differential flatness intuition for quadrotors
• Polynomial optimization and boundary conditions
• Curvilinear coordinates (Frenet frames)