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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Bibliographic Details

Published in:	Optimal control applications & methods Vol. 43; no. 2; pp. 566 - 587
Main Authors:	Xia, Weibo, Wang, Weihong, Gao, Chuan
Format:	Journal Article
Language:	English
Published:	Glasgow Wiley Subscription Services, Inc 01.03.2022
Subjects:	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
Online Access:	Get full text
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