Three-dimensional aircraft path planning based on nonconvex quadratic optimization

In this paper, we examine the three-dimensional aircraft path planning problems under field-of-view constraints using a nonconvex quadratic optimization method. The aircraft is assumed to be flying at constant speed with small angle of attack. We focus on determining the attitude of the aircraft whe...

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Veröffentlicht in:2014 American Control Conference S. 4561 - 4566
1. Verfasser: Ran Dai
Format: Tagungsbericht
Sprache:Englisch
Veröffentlicht: American Automatic Control Council 01.06.2014
Schlagworte:
Aircraft
Eigenvalues and eigenfunctions
Kinematics
Nonconvex Quadratically Constrained Quadratic Programming
Path planning
Quaternions
Semidefinite Programming
Symmetric matrices
Unit Quaternion
Vectors
ISBN:1479932728, 9781479932726
ISSN:0743-1619
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Zusammenfassung:In this paper, we examine the three-dimensional aircraft path planning problems under field-of-view constraints using a nonconvex quadratic optimization method. The aircraft is assumed to be flying at constant speed with small angle of attack. We focus on determining the attitude of the aircraft when planning the optimal paths. Under this venue, the aircraft kinematics are expressed as quadratic functions in terms of unit quaternions and the path planning problem is reformulated as a general quadratically constrained quadratic programming (QCQP) problem. A semidefinite programming method is then applied to relax the nonconvex QCQP problem to obtain the bounds on the optimal value. Subsequently, an iterative rank minimization approach is proposed to find the optimal solution. Simulation results for planned paths using the proposed method are presented and compared with those obtained from the other method.
ISBN:1479932728
9781479932726
ISSN:0743-1619
DOI:10.1109/ACC.2014.6859054