TY - GEN
T1 - Hierarchical Trajectory Sequential Convex Programming Method for UAV Based on Safe Flight Corridors
AU - Miao, Hongyu
AU - Long, Teng
AU - Sun, Jingliang
AU - Li, Junzhi
AU - Wang, Shaoqi
AU - Zhou, Zhenlin
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.
PY - 2025
Y1 - 2025
N2 - To guarantee safe and rapid flight of UAV in complex environments, in this paper, a hierarchical trajectory sequential convex programming method is proposed by dividing trajectory planning progress into three parts: Flight Path Planning, Safe Flight Corridors (SFC) Generation and Trajectory Sequential Convex Programming (SCP). Firstly, the Sparse A-star algorithm (SAS) is used to generate the initial flight path. The discrete path points provide the initial iteration value for SCP, which can improve the efficiency of trajectory solution. Subsequently, a SFC construction method which uses path segments as seeds is developed to ensure that SFC is continuous, and thus generating the convex feasible regions. Then, the sequential convex programming method is used to solve the trajectory rapidly. Consequently, the fixed-wing UAV can reach the terminal point in the shortest time within the constraints. The simulation results show that this method can ensure the safety of flight trajectory and satisfy timeliness requirements.
AB - To guarantee safe and rapid flight of UAV in complex environments, in this paper, a hierarchical trajectory sequential convex programming method is proposed by dividing trajectory planning progress into three parts: Flight Path Planning, Safe Flight Corridors (SFC) Generation and Trajectory Sequential Convex Programming (SCP). Firstly, the Sparse A-star algorithm (SAS) is used to generate the initial flight path. The discrete path points provide the initial iteration value for SCP, which can improve the efficiency of trajectory solution. Subsequently, a SFC construction method which uses path segments as seeds is developed to ensure that SFC is continuous, and thus generating the convex feasible regions. Then, the sequential convex programming method is used to solve the trajectory rapidly. Consequently, the fixed-wing UAV can reach the terminal point in the shortest time within the constraints. The simulation results show that this method can ensure the safety of flight trajectory and satisfy timeliness requirements.
KW - Fixed-wing UAV
KW - Safe Flight Corridors
KW - Sequential Convex Programming
KW - Trajectory Planning
UR - http://www.scopus.com/inward/record.url?scp=105006458420&partnerID=8YFLogxK
U2 - 10.1007/978-981-96-2232-0_31
DO - 10.1007/978-981-96-2232-0_31
M3 - Conference contribution
AN - SCOPUS:105006458420
SN - 9789819622313
T3 - Lecture Notes in Electrical Engineering
SP - 306
EP - 316
BT - Advances in Guidance, Navigation and Control - Proceedings of 2024 International Conference on Guidance, Navigation and Control Volume 9
A2 - Yan, Liang
A2 - Duan, Haibin
A2 - Deng, Yimin
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Guidance, Navigation and Control, ICGNC 2024
Y2 - 9 August 2024 through 11 August 2024
ER -