Tail-sitters combine the advantages of fixed-wing unmanned aerial vehicles (UAVs) and vertical take-off and landing UAVs, and have been widely designed and researched in recent years. With the change in modern UAV application scenarios, it is required that UAVs have fast maneuverable three-dimensional flight capabilities. Due to the highly nonlinear aerodynamics produced by the fuselage and wings of the tail-sitter, how to quickly generate a smooth and executable trajectory is a problem that needs to be solved urgently. We constrain the speed of the tail-sitter, eliminate the differential dynamics constraints in the trajectory generation process of the tail-sitter through differential flatness, and allocate the time variable of the trajectory through the state-of-the-art trajectory generation method named MINCO. Because we discretize the trajectory in time, we convert the speed constraint on the vehicle into a soft constraint, thereby achieving the time-optimal trajectory for the tail-sitter to fly through any given waypoints.

翻译：尾座式飞行器结合了固定翼无人机与垂直起降无人机的优势，近年来得到了广泛设计与研究。随着现代无人机应用场景的变化，要求无人机具备快速机动三维飞行能力。由于尾座式飞行器机身和机翼产生的强非线性气动特性，如何快速生成平滑且可执行的轨迹成为亟待解决的问题。我们通过约束尾座式飞行器的速度，利用微分平坦性消除轨迹生成过程中的微分动力学约束，并采用名为MINCO的先进轨迹生成方法分配轨迹的时间变量。由于对轨迹进行了时间离散化处理，我们将飞行器的速度约束转化为软约束，从而实现了尾座式飞行器在通过任意给定航点时的时间最优轨迹。