A state-aware progressive Bézier path modifier for cost-aware 3D UAV navigation

This work proposes a progressive, state-aware downstream layer of Bézier trajectory modification framework for agile UAVs operating in complex three-dimensional environments. The main contributions of this research are:

1) A motion-state-aware Bézier trajectory modification approach that incorporates the UAV’s instantaneous velocity magnitude and heading to initialize Bézier control points and generate locally executable curved trajectories

2) A three-stage progressive control-point search strategy that adaptively explores candidate trajectory geometries, progressively extends the Bézier segment across successive waypoint corners based on collision-free feasibility and reduces unnecessary candidate evaluations through early horizon termination

3) A multi-objective candidate evaluation framework that balances directional continuity, curvature-induced lateral-acceleration demand and path efficiency, while enforcing obstacle clearance as a hard feasibility condition.