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.