Online Trajectory Optimization Method for Autonomous Obstacle Avoidance and Swift Maneuvering of Quadrotor UAV

Proceedings of 2022 International Conference on Autonomous Unmanned Systems (ICAUS 2022)(2023)

引用 0|浏览0
暂无评分
摘要
A high-precision online trajectory optimization method based on convex optimization method and Radau pseudospectral method is proposed for the trajectory optimization problem of quadrotor UAV autonomous obstacle avoidance and swift manoeuvring. First, the quadrotor dynamics and related constraint models are established to form an optimal control problem for the optimization of quadrotor autonomous obstacle avoidance trajectories with the shortest flight time as the performance index. Then, the free time variables are considered as augmented control variables, the trajectory optimization problem is sequence convexified, the corresponding convex subproblem model is derived, and a suitable sequential convexification algorithm is designed. Finally, a trajectory optimization program based on C language + ECOS solver was implemented and compared with Matlab + GPOPS-II solution results to verify the correctness and effectiveness of the sequential convexification algorithm.
更多
查看译文
关键词
swift maneuvering,autonomous obstacle avoidance,trajectory,optimization
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要