This paper examines the influence of initial guesses on trajectory planning for Unmanned Aerial Vehicles (UAVs) formulated in terms of Optimal Control Problem (OCP). The OCP is solved numerically using the Pseudospectral collocation method. Our approach leverages a path identified through Lazy Theta* and incorporates known constraints and a model of the UAV's behavior for the initial guess. Our findings indicate that a suitable initial guess has a beneficial influence on the planned trajectory. They also suggest promising directions for future research.

翻译：本文研究了初始猜测对以最优控制问题形式表述的无人机轨迹规划的影响。该最优控制问题采用伪谱配点法进行数值求解。我们的方法利用通过Lazy Theta*算法识别的路径，并结合已知约束条件与无人机行为模型来构建初始猜测。研究结果表明，合适的初始猜测对规划轨迹具有积极影响。这些发现也为未来研究指出了有前景的方向。