This paper investigates a trajectory planning algorithm for unmanned aerial vehicle (UAV) based on Nonlinear Model Predictive Control (NMPC) scheme. We propose a control parameterization method to discretize the control domain within short time steps, and when the optimization horizon is short, the sought-after control variables are segmented into piecewise constant values. This transformation converts the UAV trajectory planning problem into a nonlinear programming problem, alleviating the heavy computational burden associated with solving NMPC optimization problems online. Finally, the effectiveness of the proposed NMPC scheme is demonstrated through numerical simulation.


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    Title :

    Nonlinear Model Predictive Control for UAV Trajectory Optimization


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Deng, Yimin (editor) / Cui, Yi (author) / Li, Bin (author) / Shi, Mingming (author)

    Conference:

    International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024



    Publication date :

    2025-03-02


    Size :

    8 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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