Trajectory optimization with obstacles avoidance via strong duality equivalent and hp‐pseudospectral sequential convex programming

A trajectory optimization algorithm is developed in this article to compute a trajectory that avoids obstacles for an unmanned aerial vehicle and minimize the load factor. Quadratic and polyhedron obstacles are both considered in this article. To satisfy the safety distance requirements in engineeri...

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Vydáno v:	Optimal control applications & methods Ročník 43; číslo 2; s. 566 - 587
Hlavní autoři:	Xia, Weibo, Wang, Weihong, Gao, Chuan
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	Glasgow Wiley Subscription Services, Inc 01.03.2022
Témata:	Algorithms Computational geometry Convergence Convexity Equivalence hp‐pseudospectral method Mathematical programming Obstacle avoidance Optimization Safety sequential convex programming strong duality Trajectory optimization Unmanned aerial vehicles
ISSN:	0143-2087, 1099-1514
On-line přístup:	Získat plný text
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