Convex Optimization-Based Trajectory Planning for Quadrotors Landing on Aerial Vehicle Carriers
文献类型：期刊论文
| 作者 | Shen, Zhipeng1; Zhou, Guanzhong1; Huang, Hailong1; Huang, Chao2; Wang, Yutong3 ; Wang, Fei-Yue3,4
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| 刊名 | IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
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| 出版日期 | 2024 |
| 卷号 | 9期号:1页码:138-150 |
| 关键词 | Quadrotors Trajectory Trajectory planning 3-DOF Heuristic algorithms 6-DOF Vehicle dynamics Aerial vehicle carrier convex optimization motion and trajectory planning quadrotor autonomous landing |
| ISSN号 | 2379-8858 |
| DOI | 10.1109/TIV.2023.3327263 |
| 通讯作者 | Huang, Hailong(hailong.huang@polyu.edu.hk) |
| 英文摘要 | This paper presents a novel trajectory planning algorithm for quadrotors landing on aerial vehicle carriers (AVCs). The algorithm involves a quadrotor trajectory planning method based on the lossless convexification (LC) theory and a sequential convex programming (SCP) method enabling quadrotors to autonomously land on both static and moving AVCs in a three-dimensional space. By incorporating landing cone constraints, the safety of the quadrotor during landing is ensured. The LC method transforms the original nonconvex optimal control problem (OCP) into a convex optimization problem, enabling the efficient computation of a 3-degree-of-freedom (3-DoF) safe landing trajectory. The designed SCP algorithm utilizes the 3-DoF trajectory as an initial guess and iteratively solves convex subproblems to obtain a safe, agile, and accurate landing trajectory for the complete 6-DoF quadrotor dynamics. Real-world experiments validate the effectiveness and real-time performance of the proposed method. |
| WOS关键词 | LOSSLESS CONVEXIFICATION ; GENERATION |
| 资助项目 | Research Institute for Sports Science and Technology[P0043566] ; Intel Collaborative Research Institute for Intelligent and Automated Connected Vehicles (ICRI-IACV) |
| WOS研究方向 | Computer Science ; Engineering ; Transportation |
| 语种 | 英语 |
| WOS记录号 | WOS:001173317800021 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | Research Institute for Sports Science and Technology ; Intel Collaborative Research Institute for Intelligent and Automated Connected Vehicles (ICRI-IACV) |
| 源URL | [http://ir.ia.ac.cn/handle/173211/58770]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进控制与自动化团队 |
| 通讯作者 | Huang, Hailong |
| 作者单位 | 1.Hong Kong Polytech Univ, Dept Aeronaut & Aviat Engn, Hong Kong, Peoples R China 2.Hong Kong Polytech Univ, Dept Ind & Syst Engn, Hong Kong, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 4.Macau Univ Sci & Technol, Inst Engn, Macau 999078, Peoples R China |
| 推荐引用方式 GB/T 7714 | Shen, Zhipeng,Zhou, Guanzhong,Huang, Hailong,et al. Convex Optimization-Based Trajectory Planning for Quadrotors Landing on Aerial Vehicle Carriers[J]. IEEE TRANSACTIONS ON INTELLIGENT VEHICLES,2024,9(1):138-150. |
| APA | Shen, Zhipeng,Zhou, Guanzhong,Huang, Hailong,Huang, Chao,Wang, Yutong,&Wang, Fei-Yue.(2024).Convex Optimization-Based Trajectory Planning for Quadrotors Landing on Aerial Vehicle Carriers.IEEE TRANSACTIONS ON INTELLIGENT VEHICLES,9(1),138-150. |
| MLA | Shen, Zhipeng,et al."Convex Optimization-Based Trajectory Planning for Quadrotors Landing on Aerial Vehicle Carriers".IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 9.1(2024):138-150. |
入库方式： OAI收割
来源：自动化研究所
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