Publication detail

Unmanned Aerial Vehicle's Trajectory Optimization in Constrained Environments

NOVÁK, J. CHUDÝ, P.

Original Title

Unmanned Aerial Vehicle's Trajectory Optimization in Constrained Environments

Type

conference paper

Language

English

Original Abstract

The range of multirotor Unmanned Aerial Vehicle (UAV) applications has grown significantly over the last decade. This is to be attributed to their simple mechanical design, along with hovering and maneuvering capabilities, making them a popular choice in applications such as surveillance, aerial photography, cargo transport or infrastructure inspection. Varying mission requirements with respect to UAV target location, payload capacity, speed or time of flight combined with environmental constraints such as no-fly zones can be hard to satisfy without the use of modern trajectory optimization techniques. Trajectory optimization problems are often formulated using optimal control theory. An Optimal Control Problem (OCP) for generalized multirotor UAV introducing environmental constraints has been formulated and solved by a direct transcription approach. Furthermore, a Gauss pseudospectral method has been implemented, enabling to design a framework for UAV trajectory optimization problems in constrained environments.

Keywords

Gauss pseudospectral method, nonlinear programming, optimal control, trajectory optimization, unmanned aerial vehicle

Authors

NOVÁK, J.; CHUDÝ, P.

Released

28. 11. 2022

Publisher

International Council of the Aeronautical Sciences

Location

Stockholm

ISBN

978-1-7138-7116-3

Book

33rd Congress of the International Council of the Aeronautical Sciences, ICAS 2022

ISBN

2958-4647

Periodical

ICAS Proceedings

Year of study

8

Number

11

State

Federal Republic of Germany

Pages from

5682

Pages to

5696

Pages count

15

URL

https://www.icas.org/ICAS_ARCHIVE/ICAS2022/data/papers/ICAS2022_0717_paper.pdf

BibTex

@inproceedings{BUT182523,
  author="Jiří {Novák} and Peter {Chudý}",
  title="Unmanned Aerial Vehicle's Trajectory Optimization in Constrained Environments",
  booktitle="33rd Congress of the International Council of the Aeronautical Sciences, ICAS 2022",
  year="2022",
  journal="ICAS Proceedings",
  volume="8",
  number="11",
  pages="5682--5696",
  publisher="International Council of the Aeronautical Sciences",
  address="Stockholm",
  isbn="978-1-7138-7116-3",
  issn="2958-4647",
  url="https://www.icas.org/ICAS_ARCHIVE/ICAS2022/data/papers/ICAS2022_0717_paper.pdf"
}