@inproceedings{972ee7373c4d4b7da093a0ab8a2f49ec,
title = "UAV Path Planning with No-Fly-Zone Constraints by Convex Optimization",
abstract = "This paper presents a convex optimization methodology for an unmanned aerial vehicle (UAV) path planning problem with no-fly-zone (NFZ) constraints. The great challenge is to cast the original problem into a second-order cone programming (SOCP) frame. Since the original dynamic model of the UAV is nonlinear, a special transformation is applied to linearize the dynamic model. To make the problem tractable, this paper employs lossless convexification and relaxation. Then the L1 penalty method is introduced to ensure the feasibility of the transformed problem. The feasibility and effectiveness of the designed successive SOCP algorithm are demonstrated by numerical simulations.",
keywords = "Convex Optimization, Path Planning, SOCP, UAV",
author = "Xi Chen and Zhe Lin and Haiyan He and Qinglei Hu and Ruihao Cao",
note = "Publisher Copyright: {\textcopyright} 2021 Technical Committee on Control Theory, Chinese Association of Automation.; 40th Chinese Control Conference, CCC 2021 ; Conference date: 26-07-2021 Through 28-07-2021",
year = "2021",
month = jul,
day = "26",
doi = "10.23919/CCC52363.2021.9549393",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "7713--7717",
editor = "Chen Peng and Jian Sun",
booktitle = "Proceedings of the 40th Chinese Control Conference, CCC 2021",
address = "美国",
}