Solving Trajectory Optimization Problems in the Presence of Probabilistic Constraints
Chai, Runqi1; Savvaris, Al1; Tsourdos, Antonios1; Chai, Senchun2; Xia, Yuanqing2; Wang, Shuo3
Source PublicationIEEE TRANSACTIONS ON CYBERNETICS
ISSN2168-2267
2020-10-01
Volume50Issue:10Pages:4332-4345
Corresponding AuthorChai, Senchun(chaisc97@163.com)
AbstractThe objective of this paper is to present an approximation-based strategy for solving the problem of nonlinear trajectory optimization with the consideration of probabilistic constraints. The proposed method defines a smooth and differentiable function to replace probabilistic constraints by the deterministic ones, thereby converting the chance-constrained trajectory optimization model into a parametric nonlinear programming model. In addition, it is proved that the approximation function and the corresponding approximation set will converge to that of the original problem. Furthermore, the optimal solution of the approximated model is ensured to converge to the optimal solution of the original problem. Numerical results, obtained from a new chance-constrained space vehicle trajectory optimization model and a 3-D unmanned vehicle trajectory smoothing problem, verify the feasibility and effectiveness of the proposed approach. Comparative studies were also carried out to show the proposed design can yield good performance and outperform other typical chance-constrained optimization techniques investigated in this paper.
KeywordPlanning Probabilistic logic Trajectory optimization Optimal control Prediction algorithms Approximation function chance-constrained nonlinear programming probabilistic constraints trajectory optimization
DOI10.1109/TCYB.2019.2895305
WOS KeywordMODEL-PREDICTIVE CONTROL ; BUNDLE METHODS ; APPROXIMATION ; ROBUSTNESS ; AVOIDANCE ; STABILITY ; COVERAGE ; VEHICLES ; SYSTEMS ; SEARCH
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Computer Science
WOS SubjectAutomation & Control Systems ; Computer Science, Artificial Intelligence ; Computer Science, Cybernetics
WOS IDWOS:000572625500012
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Cited Times:26[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/41980
Collection多模态人工智能系统全国重点实验室_智能机器人系统研究
Corresponding AuthorChai, Senchun
Affiliation1.Cranfield Univ, Sch Aerosp Transport & Mfg, Cranfield MK43 0AL, Beds, England
2.Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China
3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Chai, Runqi,Savvaris, Al,Tsourdos, Antonios,et al. Solving Trajectory Optimization Problems in the Presence of Probabilistic Constraints[J]. IEEE TRANSACTIONS ON CYBERNETICS,2020,50(10):4332-4345.
APA Chai, Runqi,Savvaris, Al,Tsourdos, Antonios,Chai, Senchun,Xia, Yuanqing,&Wang, Shuo.(2020).Solving Trajectory Optimization Problems in the Presence of Probabilistic Constraints.IEEE TRANSACTIONS ON CYBERNETICS,50(10),4332-4345.
MLA Chai, Runqi,et al."Solving Trajectory Optimization Problems in the Presence of Probabilistic Constraints".IEEE TRANSACTIONS ON CYBERNETICS 50.10(2020):4332-4345.
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