UAV trajectory optimization using chance-constrained second-order cone programming

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dc.contributor.authorSun, Xin
dc.contributor.authorZhang, Baihai
dc.contributor.authorChai, Runqi
dc.contributor.authorTsourdos, Antonios
dc.contributor.authorChai, Senchun
dc.date.accessioned2022-01-22T12:16:58Z
dc.date.available2022-01-22T12:16:58Z
dc.date.issued2021-12-23
dc.description.abstractIt is challenging to generate optimal trajectories for nonlinear dynamic systems under external disturbances. In this brief, we present a novel approach for planning safe trajectories of the chance-constrained trajectory optimization problems with nonconvex constraints. First, the chance constraints are handled by deterministic ones which show its availability. We derive an iterative convex optimization method to solve the optimal control problem. Then the chance-constrained optimal control (CCOCP) problem is reformed to be a nonlinear programming problem (NLP) through the hp-adaptive pseudospectral method. An iterative successive linearization algorithm is detailed to convex the NLP to be a convex optimization one which described as a second-order cone programming problem. We demonstrate the proposed approach on a 3-DoF of unmanned aerial vehicle system under chance-constrained. The simulation results show reliable solutions for the UAV chance-constrained trajectory optimization problem.en_UK
dc.identifier.citationSun X, Zhang B, Chai R, et al., (2022) UAV trajectory optimization using chance-constrained second-order cone programming. Aerospace Science and Technology, Volume 121, February 2022, Article number 107283en_UK
dc.identifier.issn1270-9638
dc.identifier.urihttps://doi.org/10.1016/j.ast.2021.107283
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/17477
dc.language.isoenen_UK
dc.publisherElsevieren_UK
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectTrajectory optimizationen_UK
dc.subjectChance constraintsen_UK
dc.subjectSecond-order cone programmingen_UK
dc.titleUAV trajectory optimization using chance-constrained second-order cone programmingen_UK
dc.typeArticleen_UK

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