Cooperative Entry Trajectory Planning for Multiple Hypersonic Gliding Vehicles Using Convex Programing Method

The cooperative trajectory planning method is proposed based on sequential convex optimization technique for multiple hypersonic glide vehicles with coordinated flight time. Firstly, based on the differential equations of dynamics, a new independent variable and a control variable are defined, and the dimensional time is added to the state equations as a state variable. Secondly, the process of linearization and discretization is derived, where the non-convex trajectory planning problem is transformed into a series of convex optimization sub-problems. Then, considering the path and coordinated flight time constraints, the convex optimization sub-problems are solved iteratively in order to realize the state-coordinated entry trajectory planning. Finally, a numerical simulation example is given to verify the effectiveness of the proposed method.