This paper addresses the trajectory optimization problem of quadrotor landing on a moving platform. Various state and control constraints are imposed, and a combined optimization objective of minimum-energy and minimum-time is considered. The contribution of the paper is to convert the original nonconvex optimal control problem into a second-order cone programming (SOCP) mainly utilizing the change of variables, equivalent transformation, and linearization. And the SOCP problem can be solved by the interior point method quickly. Then, a successive solution algorithm is proposed, which is found to be able to converge quickly. Especially, the algorithm is guaranteed to converge when the moving platform has a constant velocity vector. Numerical examples have been provided to show the efficiency and effectiveness of the proposed algorithm for quadrotor landing on moving platforms.
Fast Trajectory Optimization for Quadrotor Landing on a Moving Platform
2020-09-01
1079808 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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