TY - GEN
T1 - Fast Trajectory Optimization for Quadrotor Landing on a Moving Platform
AU - Zhang, Guoxu
AU - Kuang, Hailiang
AU - Liu, Xinfu
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/9
Y1 - 2020/9
N2 - This paper addresses the trajectory optimization problem of quadrotor landing on a moving platform. Various state and control constraints are imposed, and a combined optimization objective of minimum-energy and minimum-time is considered. The contribution of the paper is to convert the original nonconvex optimal control problem into a second-order cone programming (SOCP) mainly utilizing the change of variables, equivalent transformation, and linearization. And the SOCP problem can be solved by the interior point method quickly. Then, a successive solution algorithm is proposed, which is found to be able to converge quickly. Especially, the algorithm is guaranteed to converge when the moving platform has a constant velocity vector. Numerical examples have been provided to show the efficiency and effectiveness of the proposed algorithm for quadrotor landing on moving platforms.
AB - This paper addresses the trajectory optimization problem of quadrotor landing on a moving platform. Various state and control constraints are imposed, and a combined optimization objective of minimum-energy and minimum-time is considered. The contribution of the paper is to convert the original nonconvex optimal control problem into a second-order cone programming (SOCP) mainly utilizing the change of variables, equivalent transformation, and linearization. And the SOCP problem can be solved by the interior point method quickly. Then, a successive solution algorithm is proposed, which is found to be able to converge quickly. Especially, the algorithm is guaranteed to converge when the moving platform has a constant velocity vector. Numerical examples have been provided to show the efficiency and effectiveness of the proposed algorithm for quadrotor landing on moving platforms.
UR - http://www.scopus.com/inward/record.url?scp=85094945439&partnerID=8YFLogxK
U2 - 10.1109/ICUAS48674.2020.9213997
DO - 10.1109/ICUAS48674.2020.9213997
M3 - Conference contribution
AN - SCOPUS:85094945439
T3 - 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
SP - 238
EP - 246
BT - 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
Y2 - 1 September 2020 through 4 September 2020
ER -