UAV trajectory optimization using chance-constrained second-order cone programming

It is challenging to generate optimal trajectories for nonlinear dynamic systems under external disturbances. In this brief, we present a novel approach for planning safe trajectories of the chance-constrained trajectory optimization problems with nonconvex constraints. First, the chance constraints...

Celý popis

Uloženo v:
Podrobná bibliografie
Vydáno v:Aerospace science and technology Ročník 121; s. 107283
Hlavní autoři: Sun, Xin, Zhang, Baihai, Chai, Runqi, Tsourdos, Antonios, Chai, Senchun
Médium: Journal Article
Jazyk:angličtina
Vydáno: Elsevier Masson SAS 01.02.2022
Témata:
Chance constraints
Second-order cone programming
Trajectory optimization
Chance constraints
Second-order cone programming
Trajectory optimization
ISSN:1270-9638, 1626-3219
On-line přístup:Získat plný text
Tagy: Přidat tag
Žádné tagy, Buďte první, kdo vytvoří štítek k tomuto záznamu!
Popis
Shrnutí:It is challenging to generate optimal trajectories for nonlinear dynamic systems under external disturbances. In this brief, we present a novel approach for planning safe trajectories of the chance-constrained trajectory optimization problems with nonconvex constraints. First, the chance constraints are handled by deterministic ones which show its availability. We derive an iterative convex optimization method to solve the optimal control problem. Then the chance-constrained optimal control (CCOCP) problem is reformed to be a nonlinear programming problem (NLP) through the hp-adaptive pseudospectral method. An iterative successive linearization algorithm is detailed to convex the NLP to be a convex optimization one which described as a second-order cone programming problem. We demonstrate the proposed approach on a 3-DoF of unmanned aerial vehicle system under chance-constrained. The simulation results show reliable solutions for the UAV chance-constrained trajectory optimization problem.
ISSN:1270-9638
1626-3219
DOI:10.1016/j.ast.2021.107283