TY - GEN
T1 - Quad-Rotor Collision Avoidance via Sequential Convex Programming with Reference Correction
AU - Liu, Tianhao
AU - Chai, Runqi
AU - Chai, Senchun
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.
PY - 2025
Y1 - 2025
N2 - In this paper, the constrained trajectory optimization problem for quad-rotors is solved by a sequential convex programming-based method. The considered nonconvex problem is approximated by convex subproblems which are solved successively to generate the optimal trajectory efficiently. A reference correction strategy that utilizes the information contained in the previous solutions is proposed. Several solutions to convex subproblems are combined and their weights are optimized in the sense of minimizing the original objective. Such a method provides high-quality reference solutions for the following iterations. Numerical results showed that the proposed reference correction method generated a feasible trajectory that bypasses all the obstacles with faster convergence.
AB - In this paper, the constrained trajectory optimization problem for quad-rotors is solved by a sequential convex programming-based method. The considered nonconvex problem is approximated by convex subproblems which are solved successively to generate the optimal trajectory efficiently. A reference correction strategy that utilizes the information contained in the previous solutions is proposed. Several solutions to convex subproblems are combined and their weights are optimized in the sense of minimizing the original objective. Such a method provides high-quality reference solutions for the following iterations. Numerical results showed that the proposed reference correction method generated a feasible trajectory that bypasses all the obstacles with faster convergence.
KW - Constrained optimization
KW - Reference trajectory
KW - Sequential convex programming
UR - http://www.scopus.com/inward/record.url?scp=105000511819&partnerID=8YFLogxK
U2 - 10.1007/978-981-96-2248-1_56
DO - 10.1007/978-981-96-2248-1_56
M3 - Conference contribution
AN - SCOPUS:105000511819
SN - 9789819622474
T3 - Lecture Notes in Electrical Engineering
SP - 582
EP - 590
BT - Advances in Guidance, Navigation and Control - Proceedings of 2024 International Conference on Guidance, Navigation and Control Volume 13
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 -