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

被引：0

作者：

Shi, Jianlin ^{[1
]}

Ma, Zhenwei ^{[1
]}

Wang, Jinbo ^{[1
]}

Chen, Hongbo ^{[1
]}

机构：

[1] Sun Yat Sen Univ, Guangzhou 510006, Peoples R China

来源：

PROCEEDINGS OF 2022 INTERNATIONAL CONFERENCE ON AUTONOMOUS UNMANNED SYSTEMS, ICAUS 2022 | 2023年 / 1010卷

关键词：

Quadrotor UAV; Autonomous obstacle avoidance; Convex optimization method; Radau pseudospectral method; Online trajectory optimization; GENERATION; FLIGHT;

D O I：

10.1007/978-981-99-0479-2_28

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

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.

引用

页码：292 / 304

页数：13

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