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Fast Generation of Chance-Constrained Flight Trajectory for Unmanned Vehicles

文献类型：期刊论文

作者Chai, Runqi3; Tsourdos, Antonios3; Al Savvaris3; Wang, Shuo2; Xia, Yuanqing1; Chai, Senchun1
刊名IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS
出版日期2021-04-01
卷号57期号:2页码:1028-1045
ISSN号0018-9251
关键词Unmanned aerial vehicles Probabilistic logic Trajectory optimization Mathematical model Aerodynamics Vehicle dynamics Trajectory planning Chance constrained convex approximation convex optimization convexification trajectory optimization unmanned vehicle
DOI10.1109/TAES.2020.3037417
通讯作者Chai, Runqi(r.chai@cranfield.ac.uk)
英文摘要In this article, 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 path-length-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 article.
WOS关键词POWERED DESCENT ; PATH GENERATION ; OPTIMIZATION ; TRACKING
WOS研究方向Engineering ; Telecommunications
语种英语
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号WOS:000639747300019
源URL[http://ir.ia.ac.cn/handle/173211/44509]  
专题智能机器人系统研究
通讯作者Chai, Runqi
作者单位1.Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China
2.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China
3.Cranfield Univ, Sch Aerosp Transport & Mfg, Cranfield MK43 0AL, Beds, England
推荐引用方式
GB/T 7714		 Chai, Runqi,Tsourdos, Antonios,Al Savvaris,et al. Fast Generation of Chance-Constrained Flight Trajectory for Unmanned Vehicles[J]. IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS,2021,57(2):1028-1045.
APA Chai, Runqi,Tsourdos, Antonios,Al Savvaris,Wang, Shuo,Xia, Yuanqing,&Chai, Senchun.(2021).Fast Generation of Chance-Constrained Flight Trajectory for Unmanned Vehicles.IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS,57(2),1028-1045.
MLA Chai, Runqi,et al."Fast Generation of Chance-Constrained Flight Trajectory for Unmanned Vehicles".IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS 57.2(2021):1028-1045.

入库方式： OAI收割

来源：自动化研究所

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