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Solving Trajectory Optimization Problems in the Presence of Probabilistic Constraints | |
Chai, Runqi1; Savvaris, Al1; Tsourdos, Antonios1; Chai, Senchun2; Xia, Yuanqing2; Wang, Shuo3 | |
发表期刊 | IEEE TRANSACTIONS ON CYBERNETICS |
ISSN | 2168-2267 |
2020-10-01 | |
卷号 | 50期号:10页码:4332-4345 |
通讯作者 | Chai, Senchun(chaisc97@163.com) |
摘要 | The 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. |
关键词 | Planning Probabilistic logic Trajectory optimization Optimal control Prediction algorithms Approximation function chance-constrained nonlinear programming probabilistic constraints trajectory optimization |
DOI | 10.1109/TCYB.2019.2895305 |
关键词[WOS] | MODEL-PREDICTIVE CONTROL ; BUNDLE METHODS ; APPROXIMATION ; ROBUSTNESS ; AVOIDANCE ; STABILITY ; COVERAGE ; VEHICLES ; SYSTEMS ; SEARCH |
收录类别 | SCI |
语种 | 英语 |
WOS研究方向 | Automation & Control Systems ; Computer Science |
WOS类目 | Automation & Control Systems ; Computer Science, Artificial Intelligence ; Computer Science, Cybernetics |
WOS记录号 | WOS:000572625500012 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/41980 |
专题 | 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 |
通讯作者 | Chai, Senchun |
作者单位 | 1.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 |
推荐引用方式 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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