In missions such as reconnaissance, unmanned aerial vehicles (UAVs) are required to rapidly fly through several waypoints and reach the target position. It is therefore necessary to ensure that the trajectory is constrained to pass through the intermediate points and the flight time is optimized. This paper proposes a multiple shooting parameterized differential dynamic programming (MSPDDP) algorithm. The validity of the MSPDDP algorithm is demonstrated through simulations of UAV multiple waypoint reconnaissance. Moreover, the trajectories optimized by MSPDDP are smoother and have a smaller inaccuracy than the MSDDP algorithm, which cannot optimize the time of flight.


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    Title :

    Multiple Shooting Parameterized Differential Dynamic Programming for Waypoint-Trajectory Optimization


    Additional title:

    Lect. Notes in Networks, Syst.


    Contributors:
    Park, Daehyung (editor) / Liu, Cunjia (editor) / Lee, Dae-Young (editor) / Kim, Min Jun (editor) / Xia, Feiran (author) / Chai, Runqi (author) / Li, Chaoyong (author) / He, Shaoming (author)

    Conference:

    International Conference on Robot Intelligence Technology and Applications ; 2024 ; Ulsan, Korea (Republic of) December 04, 2024 - December 07, 2024



    Publication date :

    2025-07-16


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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