Convex Optimization-Based Trajectory Planning for Quadrotors Landing on Aerial Vehicle Carriers

doi:10.1109/TIV.2023.3327263

CASIA OpenIR > 多模态人工智能系统全国重点实验室 > 平行智能技术与系统团队

	Convex Optimization-Based Trajectory Planning for Quadrotors Landing on Aerial Vehicle Carriers
	Shen, Zhipeng 1; Zhou, Guanzhong 1; Huang, Hailong 1; Huang, Chao 2; Wang, Yutong3 ; Wang, Fei-Yue3,4
发表期刊	IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
ISSN	2379-8858
	2024
卷号	9 期号:1 页码:138-150
通讯作者	Huang, Hailong(hailong.huang@polyu.edu.hk)
摘要	This paper presents a novel trajectory planning algorithm for quadrotors landing on aerial vehicle carriers (AVCs). The algorithm involves a quadrotor trajectory planning method based on the lossless convexification (LC) theory and a sequential convex programming (SCP) method enabling quadrotors to autonomously land on both static and moving AVCs in a three-dimensional space. By incorporating landing cone constraints, the safety of the quadrotor during landing is ensured. The LC method transforms the original nonconvex optimal control problem (OCP) into a convex optimization problem, enabling the efficient computation of a 3-degree-of-freedom (3-DoF) safe landing trajectory. The designed SCP algorithm utilizes the 3-DoF trajectory as an initial guess and iteratively solves convex subproblems to obtain a safe, agile, and accurate landing trajectory for the complete 6-DoF quadrotor dynamics. Real-world experiments validate the effectiveness and real-time performance of the proposed method.
关键词	Quadrotors Trajectory Trajectory planning 3-DOF Heuristic algorithms 6-DOF Vehicle dynamics Aerial vehicle carrier convex optimization motion and trajectory planning quadrotor autonomous landing
DOI	10.1109/TIV.2023.3327263
关键词[WOS]	LOSSLESS CONVEXIFICATION ; GENERATION
收录类别	SCI
语种	英语
资助项目	Research Institute for Sports Science and Technology[P0043566] ; Intel Collaborative Research Institute for Intelligent and Automated Connected Vehicles (ICRI-IACV)
项目资助者	Research Institute for Sports Science and Technology ; Intel Collaborative Research Institute for Intelligent and Automated Connected Vehicles (ICRI-IACV)
WOS研究方向	Computer Science ; Engineering ; Transportation
WOS类目	Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Transportation Science & Technology
WOS记录号	WOS:001173317800021
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/173211/58771
专题	多模态人工智能系统全国重点实验室_平行智能技术与系统团队
通讯作者	Huang, Hailong
作者单位	1.Hong Kong Polytech Univ, Dept Aeronaut & Aviat Engn, Hong Kong, Peoples R China 2.Hong Kong Polytech Univ, Dept Ind & Syst Engn, Hong Kong, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 4.Macau Univ Sci & Technol, Inst Engn, Macau 999078, Peoples R China
推荐引用方式 GB/T 7714	Shen, Zhipeng,Zhou, Guanzhong,Huang, Hailong,et al. Convex Optimization-Based Trajectory Planning for Quadrotors Landing on Aerial Vehicle Carriers[J]. IEEE TRANSACTIONS ON INTELLIGENT VEHICLES,2024,9(1):138-150.
APA	Shen, Zhipeng,Zhou, Guanzhong,Huang, Hailong,Huang, Chao,Wang, Yutong,&Wang, Fei-Yue.(2024).Convex Optimization-Based Trajectory Planning for Quadrotors Landing on Aerial Vehicle Carriers.IEEE TRANSACTIONS ON INTELLIGENT VEHICLES,9(1),138-150.
MLA	Shen, Zhipeng,et al."Convex Optimization-Based Trajectory Planning for Quadrotors Landing on Aerial Vehicle Carriers".IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 9.1(2024):138-150.