An Obstacle Avoidance Trajectory Planning Methodology Based on Energy Minimization (OTPEM) for the Tilt-Wing eVTOL in the Takeoff Phase

Electric tilt-wing flying cars are an efficient, economical, and environmentally friendly solution to urban traffic congestion and travel efficiency issues. This article addresses the high energy consumption and obstacle interference during the takeoff phase of the tilt-wing eVTOL (electric Vertical Takeoff and Landing), proposing a trajectory planning method based on energy minimization and obstacle avoidance. Firstly, based on the dynamics analysis, the relationship between energy consumption, spatial trajectory, and obstacles is sorted out and the decision variables for the trajectory planning problem with obstacle avoidance are determined. Secondly, based on the power discretization during the takeoff phase, the energy minimization objective function is established and the constraints of performance limitations and spatial obstacles are derived. Thirdly, by integrating the optimization model with the SLSQP (Sequential Least Squares Quadratic Programming algorithm), the second-order sequential quadratic programming model and decision variable update equations are derived, establishing the solution process for the trajectory planning problem of the tilt-wing eVTOL takeoff with obstacle avoidance. Finally, the Airbus Vahana A³ is taken as an example to verify and validate the effectiveness, stability, and robustness of the model and optimization algorithm proposed. The validation results show that the OTPEM (obstacle avoidance trajectory planning methodology based on energy minimization) can effectively handle changes in the takeoff end state and exhibits good stability and robustness in different obstacle environments. It can provide a certain reference for the three-dimensional obstacle avoidance trajectory planning of Airbus Vahana A³ and other tilt-wing eVTOL trajectory planning problems.