Zhao, Feng (Beihang University), Yu, Jianglong (Beihang University), Hua, Yongzhao (Beihang University), Dong, Xiwang (Beihang University), Li, Qingdong (Beihang University), Ren, Zhang (Beihang University)

Decoupled SCP-Based Trajectory Planning in the Complex Environment for Multiple Fixed-Wing UAV Systems

Scheduled for presentation during the Regular Session "Path Planning II" (ThA4), Thursday, June 23, 2022, 11:50−12:10, Divona-2

2022 International Conference on Unmanned Aircraft Systems (ICUAS), June 21-24, 2022, Dubrovnik, Croatia

This information is tentative and subject to change. Compiled on April 19, 2024

Abstract

This paper presents a minimum-time cooperative trajectory planning algorithm based decoupled sequential convex programming (dSCP) method for multiple fixed-wing UAVs, which can improve computational efficiency. Firstly, the complex obstacle model and the model of the nonlinear dynamics for the fixed-wing UAV are constructed. Secondly, through the convex optimization theory, the obstacle avoidance and collision avoidance constraints are convexified appropriately and the framework of the decoupled SCP is shown. Thirdly, the cooperative minimum-time trajectory planning problem for multiple fixed-wing UAVs is solved by decoupled SCP, which ensures the same arrival time, cooperative obstacle avoidance, and collision avoidance. Finally, the simulation shows the comparative results to prove the effectiveness of the proposed algorithm.