An Optimization Problem for Quadcopter Reference Flight Trajectory Generation

Table 3

Considered constraints.

Constraint types	Constraints	Constraint ranges
Workspace	Longitudinal displacement (m)
	Lateral displacement (m)
	Altitude (m)
	Roll angle (rad)
	Pitch angle (rad)
	Yaw angle (rad)
Flight envelope	Height (m)
	Yaw rate (rad/s)
	Airspeed (m/s)
Actuators	Maximum rotor velocity (rad/s)