TY - GEN
T1 - Decoupled SCP-based trajectory planning in the complex environment for multiple fixed-wing UAV systems
AU - Zhao, Feng
AU - Yu, Jianglong
AU - Hua, Yongzhao
AU - Dong, Xiwang
AU - Li, Qingdong
AU - Ren, Zhang
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - This paper presents a minimum-time cooperative trajectory planning algorithm based decoupled sequential convex programming (dSCP) method for multiple fixed-wing UAVs, which can improve computational efficiency. Firstly, the complex obstacle model and the model of the nonlinear dynamics for the fixed-wing UAV are constructed. Secondly, through the convex optimization theory, the obstacle avoidance and collision avoidance constraints are convexified appropriately and the framework of the decoupled SCP is shown. Thirdly, the cooperative minimum-time trajectory planning problem for multiple fixed-wing UAVs is solved by decoupled SCP, which ensures the same arrival time, cooperative obstacle avoidance, and collision avoidance. Finally, the simulation shows the comparative results to prove the effectiveness of the proposed algorithm.
AB - This paper presents a minimum-time cooperative trajectory planning algorithm based decoupled sequential convex programming (dSCP) method for multiple fixed-wing UAVs, which can improve computational efficiency. Firstly, the complex obstacle model and the model of the nonlinear dynamics for the fixed-wing UAV are constructed. Secondly, through the convex optimization theory, the obstacle avoidance and collision avoidance constraints are convexified appropriately and the framework of the decoupled SCP is shown. Thirdly, the cooperative minimum-time trajectory planning problem for multiple fixed-wing UAVs is solved by decoupled SCP, which ensures the same arrival time, cooperative obstacle avoidance, and collision avoidance. Finally, the simulation shows the comparative results to prove the effectiveness of the proposed algorithm.
UR - https://www.scopus.com/pages/publications/85136109503
U2 - 10.1109/ICUAS54217.2022.9836077
DO - 10.1109/ICUAS54217.2022.9836077
M3 - 会议稿件
AN - SCOPUS:85136109503
T3 - 2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022
SP - 670
EP - 675
BT - 2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022
Y2 - 21 June 2022 through 24 June 2022
ER -