A Trajectory Generation Method for Multi-Rotor UAV Based on Adaptive Adjustment Strategy
Round 1
Reviewer 1 Report
This paper proposes an improved B-spline based trajectory generation method that can generate safe, smooth and kinodynamic feasible trajectories in real time for Multi-Rotor UAV. The topic is important, and the detailed algorithm and simulation process are given. The paper follows a logical path and is fairly clear to follow, and has some innovations compared with the existing literatures in this field.
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Reviewer 2 Report
In this paper, the authors proposed an improved trajectory generation method which calculates In this paper, a trajectory generation method for UAVs with dynamic parameter adjustment is proposed by calculating a safety threshold from the upper bound of the error between the B-spline curve and the control polygon.
The proposed algorithm is simple and practical. However, there are some explanations missing.
Please correct them.
1. For section 4.2.2, please provide a series of photos of a drone flying. Or you can also provide a movie as a supplement material. This will prove that you actually flew the drone.
2. In Figure 7, the margin of safety is very small, and the UAV seems to be flying very close to obstacles. Please explain this. Also, please explain in the text how the size parameter of the UAV is added.
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Reviewer 3 Report
Change Matlab for MATLAB review all the paper.
Figure 3 make more biggest the points (initial position and End position)
The planning time of the two algorithms is approximately the same, which 441 Mentioned that is different not the same
Quantity the better trajectory can obtain better trajectory. 518
In general, is a very good work but you can improve the analysis of the results and the conclusions.
In the References consider some actual works 2020-2022 for update the references
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