Publication Details
Unmanned Aerial Vehicle's Trajectory Optimization in Constrained Environments
Gauss pseudospectral method, nonlinear programming, optimal control, trajectory
optimization, unmanned aerial vehicle
The range of multirotor Unmanned Aerial Vehicle (UAV) applications has grown
significantly over the last decade. This is to be attributed to their simple
mechanical design, along with hovering and maneuvering capabilities, making them
a popular choice in applications such as surveillance, aerial photography, cargo
transport or infrastructure inspection. Varying mission requirements with respect
to UAV target location, payload capacity, speed or time of flight combined with
environmental constraints such as no-fly zones can be hard to satisfy without the
use of modern trajectory optimization techniques. Trajectory optimization
problems are often formulated using optimal control theory. An Optimal Control
Problem (OCP) for generalized multirotor UAV introducing environmental
constraints has been formulated and solved by a direct transcription approach.
Furthermore, a Gauss pseudospectral method has been implemented, enabling to
design a framework for UAV trajectory optimization problems in constrained
environments.
@inproceedings{BUT182523,
author="Jiří {Novák} and Peter {Chudý}",
title="Unmanned Aerial Vehicle's Trajectory Optimization in Constrained Environments",
booktitle="33rd Congress of the International Council of the Aeronautical Sciences, ICAS 2022",
year="2022",
journal="ICAS Proceedings",
volume="8",
number="11",
pages="5682--5696",
publisher="International Council of the Aeronautical Sciences",
address="Stockholm",
isbn="978-1-7138-7116-3",
issn="2958-4647",
url="https://www.icas.org/ICAS_ARCHIVE/ICAS2022/data/papers/ICAS2022_0717_paper.pdf"
}