How to implement smooth path following without stopping at every waypoint?

[lucasrebra]

Hi everyone, I’m working on a project where I want a Tello to follow a series of waypoints continuously, but with smooth transitions between each point. My goal is for the drone not to stop at every point unless it’s the final destination, ensuring a fluid motion. Additionally, the waypoints are dynamically updated in a queue as they are received.

Has anyone implemented something similar or can recommend specific techniques to achieve this? I've implemented a PID with the position and the sdk commands to give velocities to the drone, but have some situations in which it is not properly working and I need some advanced control for improvint it. I’d like to hear if anyone has successfully used these methods with a drone in a dynamic environment. Any advice on avoiding stops at each point to achieve continuous motion would be greatly appreciated.

Thanks in advance!

 

[volate!lo]

Just two ideas without much thought:

1) Calculate the time required to reach the next waypoint. Mark it "reached" and move towards the next if this time is below 0.5-1 second or so. You will no longer exactly reach the WP but only go near it, the result should be smooth but less accurate.
To improve WP accuracy you have adjust the timing depending on drone speed.

2) adjust speed shortly before reaching a WP depending on difference between current course and next course as well as current speed. If there is very little difference between these two courses you can zoom past the WP, if the courses are almost in opposite directions you you want the drone to slow down approaching the WP, reach it and then set the new course

Both combined should give smooth movement, depending on frequency of position reports (I don't know or use the SDK).