Optimal trajectory planning and smoothing splines (Q5939331)

In planning trajectories for optimal linear control problem, as e.g. in air traffic, curves are constructed that are close to predefined points or pass through given intervals. Searching for outputs that are smoothing splines, the problem is reduced to a finite quadratic programming problem. As an example, the present approach is applied to the problem of planning trajectories under velocity, acceleration and jerk saturation.