Generating dynamically feasible trajectory for fixed-wing Unmanned Aerial Vehicles(UAVs)in dense obstacle environments remains computationally *** paper proposes a Safe Flight Corridor constrained Sequential convex Pr...
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Generating dynamically feasible trajectory for fixed-wing Unmanned Aerial Vehicles(UAVs)in dense obstacle environments remains computationally *** paper proposes a Safe Flight Corridor constrained Sequential convex Programming(SFC-SCP)to improve the computation efficiency and reliability of trajectory ***-SCP combines the front-end convex polyhedron SFC construction and back-end SCP-based trajectory optimization.A Sparse A^(*)Search(SAS)driven SFC construction method is designed to efficiently generate polyhedron SFC according to the geometric relation among obstacles and collision-free *** transforming the nonconvex obstacle-avoidance constraints to linear inequality constraints,SFC can mitigate infeasibility of trajectory planning and reduce computation ***,SCP casts the nonlinear trajectory optimization subject to SFC into convex programming subproblems to decrease the problem *** addition,a convexoptimizer based on interior point method is customized,where the search direction is calculated via successive elimination to further improve *** experiments on dense obstacle scenarios show that SFC-SCP can generate dynamically feasible safe trajectory *** studies with state-of-the-art SCP-based methods demonstrate the efficiency and reliability merits of ***,the customized convex optimizer outperforms off-the-shelf optimizers in terms of computation time.
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