Optimal Trajectory Shaping for Impact Angle Constraints and Obstacle Avoidanc

This paper presents an optimal trajectory shaping method based on Bézier curves for impact angle constraints and obstacle avoidance in flight vehicles. First, obstacles are modeled using the information detected by the reconnaissance aircraft, enabling the determination of their coordinates and boundaries. Based on this, the permissible range of the impact angles are derived considering the minimum obstacle avoidance distance. By optimizing both trajectory length and smoothness, the control points of the Bézier curve are redesigned, and the trajectory is replanned to obtain the optimal trajectory that ensures obstacle avoidance and satisfies the impact angle constraints. Numerical simulations are conducted to validate the effectiveness of the proposed method.