Trajectory Generation and Control for UAVs Using Quintic PH Curves and Kolmogorov-Arnold Networks (KANs)

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dc.contributor.authorCiftci, Fatma Senguler
dc.contributor.authorOniz, Yesim
dc.date.accessioned2026-04-04T18:56:50Z
dc.date.available2026-04-04T18:56:50Z
dc.date.issued2025
dc.departmentİstanbul Bilgi Üniversitesi
dc.description7th International Congress on Human-Computer Interaction, Optimization and Robotic Applications-ICHORA -- MAY 23-24, 2025 -- Ankara, TURKIYE
dc.description.abstractThis paper presents a novel methodology that utilizes quintic Pythagorean-Hodograph (PH) curves for trajectory generation of unmanned aerial vehicles (UAVs) and Kolmogorov-Arnold Networks (KANs) for tracking problem. PH curves enable exact arc length computation and ensures smooth transitions in positions, velocities, and accelerations throughout the trajectory. The UAV's movements along the generated trajectory are regulated by KAN-based controllers. A separate controller is designed for each axis. We validate through simulations, indicating that a 40% improvement in tracking accuracy can be attained with KANs over conventional multilayer perceptrons (MLPs) under wind disturbances.
dc.description.sponsorshipInstitute of Electrical and Electronics Engineers Inc,Ted University
dc.identifier.doi10.1109/ICHORA65333.2025.11017248
dc.identifier.doi10.1109/ICHORA65333.2025.11017248
dc.identifier.isbn979-8-3315-1089-3
dc.identifier.isbn979-8-3315-1088-6
dc.identifier.issn2996-4385
dc.identifier.scopus2-s2.0-105008418341
dc.identifier.scopusqualityN/A
dc.identifier.urihttps://doi.org/10.1109/ICHORA65333.2025.11017248
dc.identifier.urihttps://hdl.handle.net/11411/10582
dc.identifier.wosWOS:001533792800216
dc.identifier.wosqualityN/A
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherIeee
dc.relation.ispartof2025 7Th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, Ichora
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.snmzKA_WoS_20260402
dc.snmzKA_Scopus_20260402
dc.subjectUav
dc.subjectQuintic Ph Curve
dc.subjectKan
dc.subjectControl
dc.subjectLyapunov Stability
dc.titleTrajectory Generation and Control for UAVs Using Quintic PH Curves and Kolmogorov-Arnold Networks (KANs)
dc.typeConference Object

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