Fast generation of chance-constrained flight trajectory for unmanned vehicles

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dc.contributor.authorChai, Runqi
dc.contributor.authorTsourdos, Antonios
dc.contributor.authorSavvaris, Al
dc.contributor.authorWang, Shuo
dc.contributor.authorXia, Yuanqing
dc.contributor.authorChai, Senchun
dc.date.accessioned2021-03-22T15:12:11Z
dc.date.available2021-03-22T15:12:11Z
dc.date.issued2020-11-16
dc.description.abstractIn this work, a fast chance-constrained trajectory generation strategy incorporating convex optimization and convex approximation of chance constraints is designed so as to solve the unmanned vehicle path planning problem. A pathlength- optimal unmanned vehicle trajectory optimization model is constructed with the consideration of the pitch angle constraint, the curvature radius constraint, the probabilistic control actuation constraint, and the probabilistic collision avoidance constraint. Subsequently, convexification technique is introduced to convert the nonlinear problem formulation into a convex form. To deal with the probabilistic constraints in the optimization model, convex approximation techniques are introduced such that the probabilistic constraints are replaced by deterministic ones, while simultaneously preserving the convexity of the optimization model. Numerical results, obtained from a number of case studies, validate the effectiveness and reliability of the proposed approach. A number of comparative studies were also performed. The results confirm that the proposed design is able to produce more optimal flight paths and achieve enhanced computational performance than other chance-constrained optimization approaches investigated in this paper.en_UK
dc.identifier.citationChai R, Tsourdos A, Savvaris A, et al., (2021) Fast generation of chance-constrained flight trajectory for unmanned vehicles. IEEE Transactions on Aerospace and Electronic Systems, Volume 57, Issue 2, April 2021, pp. 1028-1045en_UK
dc.identifier.issn0018-9251
dc.identifier.urihttps://doi.org/10.1109/TAES.2020.3037417
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/16489
dc.language.isoenen_UK
dc.publisherIEEEen_UK
dc.rightsAttribution-NonCommercial 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/*
dc.subjectconvex approximationen_UK
dc.subjectconvex optimizationen_UK
dc.subjectconvexificationen_UK
dc.subjectunmanned vehicle,en_UK
dc.subjecttrajectory optimizationen_UK
dc.subjectChance-constraineden_UK
dc.titleFast generation of chance-constrained flight trajectory for unmanned vehiclesen_UK
dc.typeArticleen_UK

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