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An Optimal Control Method of Trajectory Planning for Unmanned Aerial Vehicle Formation
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报告人:
Lei Wang, Professor, Dalian University of Technology
邀请人:
Xin Liu, Professor
题目:
An Optimal Control Method of Trajectory Planning for Unmanned Aerial Vehicle Formation
时间地点:
10:30-11:30 November 20(Monday), Z305
摘要:

Fixed-wing unmanned aerial vehicle formations have been widely used in various civil and military fields, where the trajectory planning is a key issue that determines the mission execution performance. Existence of highly nonlinear constraints makes the feasible solution space extremely non-convex and hard to search. Hence, currently methods generally rely heavily on high-quality initial guesses, and are susceptible to the obstacle distribution. In this paper, an optimal control-based method with warm-start is proposed to overcome these limitations. First, the trajectory planning is formulated as an optimal control problem by analyzing necessary constraints. Secondly, aiming at high-quality homotopic warm-start, an improved artificial potential field method that caters to eliminating local oscillation, inter-formation coordination and satisfaction on physical constraints is designed. Last but not the least, a loosen formation constraint strategy is integrated to expand the solution space, thus facilitating the convergent process. Numerical simulations under different complexities show the proposed planner is efficient and robust, where the designed warm-start strategy contributes much to the convergence. Meanwhile, the proposed planner exhibits promising performance to solve the problem for multiple formations.

报告人简介:王磊,大连理工大学数学科学学院教授、副院长、博士生导师、中国运筹学会数学规划学会常务理事、辽宁省计算数学与数据智能重点实验室副主任。曾作为中组部第十批援疆干部担任石河子大学理学院院长,近年来,主持、参与多项国家自然科学基金项目,先后获评辽宁省科学技术三等奖和辽宁省自然科学学术成果奖(学术著作类)二等奖。目前的主要研究方向为优化控制理论、算法及科学工程中的应用。