SEQUENTIAL CONVEX PROGRAMMING FOR NONLINEAR OPTIMAL CONTROL IN UAV TRAJECTORY PLANNING

Sequential Convex Programming for Nonlinear Optimal Control in UAV Trajectory Planning

Sequential Convex Programming for Nonlinear Optimal Control in UAV Trajectory Planning

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In this paper, an algorithm is proposed to solve the non-convex optimization problem using sequential convex programming.An approximation method was used to solve the collision avoidance constraint.An iterative approach was utilized to Jeans estimate the non-convex constraints, replacing them with their linear approximations.Through the simulation, we can see that this method allows for quadcopters to take off from a given initial position and fly to the desired here final position within a specified flight time.

It is guaranteed that the quadcopters will not collide with each other in different scenarios.

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