scholarly journals Trajectory optimization of UAV based on Hp-adaptive Radau pseudospectral method

2021 ◽  
Vol 0 (0) ◽  
pp. 0
Author(s):  
Yi Cui ◽  
Xintong Fang ◽  
Gaoqi Liu ◽  
Bin Li
Keyword(s):  
Trajectory Planning ◽  
Trajectory Optimization ◽  
Optimization Problem ◽  
Tracking Error ◽  
Pseudospectral Method ◽  
Planning Problem ◽  
A Algorithm ◽  
Planning Scheme ◽  
Path Search ◽  
Simulation Results

<p style='text-indent:20px;'>Unmanned Aerial Vehicles (UAVs) have been extensively studied to complete the missions in recent years. The UAV trajectory planning is an important area. Different from the commonly used methods based on path search, which are difficult to consider the UAV state and dynamics constraints, so that the planned trajectory cannot be tracked completely. The UAV trajectory planning problem is considered as an optimization problem for research, considering the dynamics constraints of the UAV and the terrain obstacle constraints during flight. An hp-adaptive Radau pseudospectral method based UAV trajectory planning scheme is proposed by taking the UAV dynamics into account. Numerical experiments are carried out to show the effectiveness and superior of the proposed method. Simulation results show that the proposed method outperform the well-known RRT* and A* algorithm in terms of tracking error.</p>

scholarly journals Path Planning for Rapid Large-Angle Maneuver of Satellites Based on the Gauss Pseudospectral Method

2016 ◽  
Vol 2016 ◽  
pp. 1-7 ◽  
Author(s):  
Wan Zhang ◽  
Yao Zhang ◽  
Wenbo Li ◽  
Youyi Wang
Keyword(s):  
Attitude Control ◽  
Trajectory Optimization ◽  
Optimal Trajectory ◽  
Optimization Problem ◽  
Large Angle ◽  
Pseudospectral Method ◽  
Performance Criteria ◽  
Planning Problem ◽  
Singularity Problem ◽  
Gauss Pseudospectral Method

A Gauss pseudospectral method is proposed in this study to solve the optimal trajectory-planning problem for satellite rapid large-angle maneuvers. In order to meet the requirement of rapid maneuver capability of agile small satellites, Single Gimbal Control Moment Gyros (SGCMGs) are adopted as the actuators for the attitude control systems (ACS). Because the singularity problem always exists for SGCMGs during the large-angle maneuvering of the satellites, a trajectory optimization method for the gimbal rates is developed based on the Gauss pseudospectral method. This method satisfies the control requirement of satellite rapid maneuvers and evades the singularity problem of SGCMGs. The method treats the large-angle maneuver problem as an optimization problem, which meets the boundary condition and a series of the physical constraints including the gimbal angle constraint, the gimbal rates constraint, the singularity index constraint, and some other performance criteria. This optimization problem is discretized as a nonlinear programming problem by the Gauss pseudospectral method. The optimal nonsingularity gimbal angle trajectory is obtained by the sequence of quadratic programming (SQP). This approach avoids the difficulties in solving the boundary value problem. The simulations reveal that the Gauss pseudospectral method effectively plans an optimal trajectory and satisfies all the constraints within a short time.

Trajectory Optimization Applied to Space Rendezvous

2013 ◽  
Vol 756-759 ◽  
pp. 3466-3470
Author(s):  
Xu Min Song ◽  
Qi Lin
Keyword(s):  
Simulated Annealing ◽  
Optimization Model ◽  
Trajectory Optimization ◽  
Optimization Problem ◽  
Optimization Method ◽  
Nonlinear Constraints ◽  
Design Variables ◽  
Adaptive Simulated Annealing ◽  
Simulation Results

The trajcetory plan problem of spece reandezvous mission was studied in this paper using nolinear optimization method. The optimization model was built based on the Hills equations. And by analysis property of the design variables, a transform was put forward , which eliminated the equation and nonlinear constraints as well as decreaseing the problem dimensions. The optimization problem was solved using Adaptive Simulated Annealing (ASA) method, and the rendezvous trajectory was designed.The method was validated by simulation results.

Cooperative Task Assignment and Trajectory Planning of Unmanned Systems Via HFLC and PSO

2019 ◽  
Vol 07 (02) ◽  
pp. 65-81 ◽  
Author(s):  
Ahmed T. Hafez ◽  
Mohamed A. Kamel
Keyword(s):  
Trajectory Planning ◽  
Optimization Problem ◽  
Fuzzy Logic Controller ◽  
Hybrid Approach ◽  
Task Assignment ◽  
Time Discretization ◽  
Planning Problem ◽  
Dynamic Constraints ◽  
Ground Station ◽  
Novel Approach

This paper investigates the problems of cooperative task assignment and trajectory planning for teams of cooperative unmanned aerial vehicles (UAVs). A novel approach of hierarchical fuzzy logic controller (HFLC) and particle swarm optimization (PSO) is proposed. Initially, teams of UAVs are moving in a pre-defined formation covering a specified area. When one or more targets are detected, the teams send a package of information to the ground station (GS) including the target’s degree of threat, degree of importance, and the separating distance between each team and each detected target. Based on the gathered information, the ground station assigns the teams to the targets. HFLC is implemented in the GS to solve the assignment problem ensuring that each team is assigned to a unique target. Next, each team plans its own path by formulating the path planning problem as an optimization problem. The objective in this case is to minimize the time to reach their destination considering the UAVs dynamic constraints and collision avoidance between teams. A hybrid approach of control parametrization and time discretization (CPTD) and PSO is proposed to solve this optimization problem. Finally, numerical simulations demonstrate the effectiveness of the proposed algorithm.

Analytical Trajectory Optimization of Seven Degrees of Freedom Redundant Robots

1987 ◽  
Vol 11 (4) ◽  
pp. 197-200 ◽  
Author(s):  
B. Benhabib ◽  
R.G. Fenton ◽  
A.A. Goldenberg
Keyword(s):  
Trajectory Planning ◽  
Trajectory Optimization ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Optimization Problem ◽  
Optimization Procedure ◽  
Redundant Robots ◽  
Point Motion ◽  
Point To Point ◽  
Lagrange’S Method

The basic characteristic of kinematically redundant robots is that non-unique joint solutions may exist for a specified end effector location. Thus, trajectory planning for a kinematically redundant robot requires an optimization procedure to determine the joint displacements when solving the inverse kinematics relations. In this paper an analytical solution is developed for the trajectory optimization problem of redundant robots based on the classical Lagrange’s method. A detailed formulation is provided for seven degrees of freedom robots, which minimizes the Euclidean norm of joint dislacements for point-to-point motion trajectory planning.

Minimum jerk for trajectory planning and control

Robotica ◽  
1994 ◽  
Vol 12 (2) ◽  
pp. 109-113 ◽  
Author(s):  
K.J. Kyriakopoulos ◽  
G.N. Saridis
Keyword(s):  
Trajectory Planning ◽  
Tracking Control ◽  
Optimization Problem ◽  
Control Algorithms ◽  
Planning Problem ◽  
Cartesian Space ◽  
Planning And Control ◽  
Minimum Jerk ◽  
And Control ◽  
Trajectory Planning And Control

SUMMARYIt has been experimentally verified that the jerk of the desired trajectory adversely affects the performance of the tracking control algorithms for robotic manipulators. In this paper, we investigate the reasons behind this effect, and state the trajectory planning problem as an optimization problem that minimizes a norm of joint jerk over a prespecified Cartesian space trajectory. The necessary conditions are derived and a numerical algorithm is presented.

scholarly journals TRAJECTORY OPTIMIZATION OF A SMALL AIRSHIP IN A MOVING FLUID

2016 ◽  
Vol 40 (2) ◽  
pp. 191-200 ◽  
Author(s):  
Charles Blouin ◽  
Eric Lanteigne ◽  
Wail Gueaieb
Keyword(s):  
Optimal Control ◽  
Trajectory Planning ◽  
Trajectory Optimization ◽  
Low Cost ◽  
Research Area ◽  
Planning Problem ◽  
Control Approach ◽  
Constrained Environments ◽  
Active Research ◽  
Long Endurance

Airships offer a low-cost alternative to heavier-than-air vehicles for long endurance applications in surveillance and transport. Although manoeuvring an under-actuated vehicle in a real environment while taking into account the obstacles, the dynamical model, the wind, and the energy consumption has been studied extensively, planning complex manoeuvres in constrained environments remains an active research area. This paper examines the use of optimal control for the trajectory planning of a small airship. The dynamic model of the vehicle and the experimental characterization of the drag coefficient are presented first, followed by the description of the trajectory planning problem formulated as an optimal control problem. Two trajectories are then solved using a pseudo-spectral solver to demonstrate that an optimal control approach can be used to generate complex and realistic manoeuvres.

Trajectory planning with mid-air collision avoidance for quadrotor unmanned aerial vehicles

2021 ◽  
pp. 095441002110440
Author(s):  
Yuhang Jiang ◽  
Shiqiang Hu ◽  
Christopher J Damaren
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Unmanned Aerial Vehicles ◽  
Collision Avoidance ◽  
Trajectory Planning ◽  
Pseudospectral Method ◽  
Planning Problem ◽  
Aerial Vehicles ◽  
Optimal Control Algorithms

Flight collision between unmanned aerial vehicles (UAVs) in mid-air poses a potential risk to flight safety in low-altitude airspace. This article transforms the problem of collision avoidance between quadrotor UAVs into a trajectory-planning problem using optimal control algorithms, therefore achieving both robustness and efficiency. Specifically, the pseudospectral method is introduced to solve the raised optimal control problem, while the generated optimal trajectory is precisely followed by a feedback controller. It is worth noting that the contributions of this article also include the introduction of the normalized relative coordinate, so that UAVs can obtain collision-free trajectories more conveniently in real time. The collision-free trajectories for a classical scenario of collision avoidance between two UAVs are given in the simulation part by both solving the optimal control problem and querying the prior results. The scalability of the proposed method is also verified in the simulation part by solving a collision avoidance problem among multiple UAVs.

scholarly journals Multiobjective Route Planning Model and Algorithm for Emergency Management

2015 ◽  
Vol 2015 ◽  
pp. 1-17 ◽  
Author(s):  
Wen-mei Gai ◽  
Zhong-an Jiang ◽  
Yun-feng Deng ◽  
Jing Li ◽  
Yan Du
Keyword(s):  
Multiobjective Optimization ◽  
Optimization Problem ◽  
Feasible Solution ◽  
Route Planning ◽  
Weight Coefficient ◽  
Planning Problem ◽  
Emergency Logistics ◽  
Simulation Results ◽  
Route Safety ◽  
Weight Coefficients

In order to model route planning problem for emergency logistics management taking both route timeliness and safety into account, a multiobjective mathematical model is proposed based on the theories of bounded rationality. The route safety is modeled as the product of safety through arcs included in the path. For solving this model, we convert the multiobjective optimization problem into its equivalent deterministic form. We take uncertainty of the weight coefficient for each objective function in actual multiobjective optimization into account. Finally, we develop an easy-to-implement heuristic in order to gain an efficient and feasible solution and its corresponding appropriate vector of weight coefficients quickly. Simulation results show the effectiveness and feasibility of the models and algorithms presented in this paper.

Rapid trajectory optimization for hypersonic entry using a pseudospectral-convex algorithm

2019 ◽  
Vol 233 (14) ◽  
pp. 5227-5238 ◽  
Author(s):  
Jinbo Wang ◽  
Naigang Cui ◽  
Changzhu Wei
Keyword(s):  
Optimal Control ◽  
Optimal Control Theory ◽  
Trajectory Optimization ◽  
Numerical Experiments ◽  
Optimization Problem ◽  
Interior Point Methods ◽  
Pseudospectral Method ◽  
Trust Region ◽  
Convergence Properties ◽  
Dynamic Trust

Aiming at improving the autonomy of hypersonic entry vehicles, a rapid trajectory optimization algorithm, which has the potential to be implemented online and onboard, is proposed in this paper. The nonlinear and nonconvex hypersonic entry trajectory optimization problem is transformed into a series of convex subproblems through a proper combination of the pseudospectral method and an improved successive convexification method; thus, the high discretization accuracy of the pseudospectral method and the fast and deterministic convergence properties of the convex-optimization-based algorithm can be simultaneously exploited. The resulting subproblems can be solved efficiently by matured interior-point methods, and the solution converges rapidly by adopting a novel dynamic trust-region updating approach. The optimality of the solution is verified by the optimal control theory. The effectiveness of the algorithm is demonstrated by numerical experiments.

scholarly journals The Multiobjective Trajectory Optimization for Hypersonic Glide Vehicle Based on Normal Boundary Intersection Method

2016 ◽  
Vol 2016 ◽  
pp. 1-8 ◽  
Author(s):  
Zhengnan Li ◽  
Tao Yang ◽  
Zhiwei Feng
Keyword(s):  
Trajectory Optimization ◽  
Optimization Problem ◽  
Pseudospectral Method ◽  
Optimization Method ◽  
Initial Guess ◽  
Programming Algorithm ◽  
Trajectory Design ◽  
Normal Boundary ◽  
Vehicle Trajectory ◽  
Intersection Method

To solve the multiobjective optimization problem on hypersonic glider vehicle trajectory design subjected to complex constraints, this paper proposes a multiobjective trajectory optimization method that combines the boundary intersection method and pseudospectral method. The multiobjective trajectory optimization problem (MTOP) is established based on the analysis of the feature of hypersonic glider vehicle trajectory. The MTOP is translated into a set of general optimization subproblems by using the boundary intersection method and pseudospectral method. The subproblems are solved by nonlinear programming algorithm. In this method, the solution that has been solved is employed as the initial guess for the next subproblem so that the time consumption of the entire multiobjective trajectory optimization problem shortens. The maximal range and minimal peak heat problem is solved by the proposed method. The numerical results demonstrate that the proposed method can obtain the Pareto front of the optimal trajectory, which can provide the reference for the trajectory design of hypersonic glider vehicle.

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