@inproceedings{9cf48b3cc045439b9fe76fa9337f0962,
title = "Quad-Rotor Collision Avoidance via Sequential Convex Programming with Reference Correction",
abstract = "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.",
keywords = "Constrained optimization, Reference trajectory, Sequential convex programming",
author = "Tianhao Liu and Runqi Chai and Senchun Chai",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.; International Conference on Guidance, Navigation and Control, ICGNC 2024 ; Conference date: 09-08-2024 Through 11-08-2024",
year = "2025",
doi = "10.1007/978-981-96-2248-1\_56",
language = "English",
isbn = "9789819622474",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "582--590",
editor = "Liang Yan and Haibin Duan and Yimin Deng",
booktitle = "Advances in Guidance, Navigation and Control - Proceedings of 2024 International Conference on Guidance, Navigation and Control Volume 13",
address = "Germany",
}