This paper proposes a decentralized trajectory optimization method with conflict resolution for multiple unmanned aircraft systems (UASs) considering communication uncertainties from delayed position and velocity information. The method calculates the trajectory of each UAS while considering the possible reachable set of trajectories of neighboring UASs that result from the uncertainties of their positions and velocities. The overall problem is formulated as a model predictive control problem represented by a quadratically constrained quadratic programming problem that can be solved via successive convexification. The effectiveness of the proposed method is demonstrated by several numerical simulations.
Trajectory Optimizations of Unmanned Aircraft Systems Including Conflict Resolution Under Communication Uncertainty
Lect. Notes Electrical Eng.
Asia-Pacific International Symposium on Aerospace Technology ; 2021 ; Korea (Republic of) November 15, 2021 - November 17, 2021
The Proceedings of the 2021 Asia-Pacific International Symposium on Aerospace Technology (APISAT 2021), Volume 2 ; Chapter : 65 ; 881-895
2022-09-30
15 pages
Article/Chapter (Book)
Electronic Resource
English
SYSTEM FOR AUTONOMOUS UNMANNED AERIAL VEHICLE TRAJECTORY CONFLICT RESOLUTION
European Patent Office | 2020
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