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Journal of System Simulation

Abstract

Abstract: To address the issues of sensitivity to initial values and weak convergence of sequential convex programming(SCP) based time-optimal trajectory planning for UAVs, a SCP method using safety flight corridor, denoted as SFC-SCP(safe flight corridor-sequential convex programming) is proposed. According to the obstacle avoidance path obtained from the front-end path planning, a safe flight corridor is constructed by forming a convex polygon safe flight area without obstacles for each trajectory point. The non-convex obstacle avoidance constraint is converted into linear inequality constraints to improve convergence ability. The rear-end SCP method is used to transform the nonlinear trajectory optimization problem under the safety corridor constraint into a series of convex sub-problems for successive solutions, reducing the complexity of the problem. Among SCP iteration, the initial solution of trajectory optimization is constructed based on the obstacle avoidance path planned by the front-end to alleviate initial sensitivity of the local optimization algorithm. The simulation comparison results show that SFC-SCP algorithm has better performance than SCP in terms of planning success rate, computational efficiency, and flight time optimality.

First Page

134

Last Page

144

CLC

TP242; V279

Recommended Citation

Wang Zhu, Zhang Zhenpeng, Zhang Mengtong, et al. Sequential Convex Programming Using Safe Flight Corridor for Trajectory Planning of UAVs[J]. Journal of System Simulation, 2025, 37(1): 134-144.

DOI

10.16182/j.issn1004731x.joss.23-1026

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