| Abstract: | Direct methods of trajectory planning such as pseudospectral method use the initial trajectory to realize the first construction of the iterative subproblem, thereby starting the sequence iterative algorithm.In order to improve the convergence efficiency of the iterative process of the pseudospectral method, a simplified kinematic model is established based on the trajectory planning for a small gliding vehicle, and the analytical/locally-analytical expressions of the velocity inclination and velocity with respect to the altitude are derived, and the high-precision initial trajectory is quickly generated.The simulation results demonstrate that, compared with linear assumptions and simplified numerical integration methods, the initial iterative value generated by the analytical method can effectively reduce the number of iterations of the pseudospectral method, and improve the efficiency of trajectory planning while ensuring the accuracy. |
