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NOVÁK, J. CHUDÝ, P.
Original Title
Unmanned Aerial Vehicle's Trajectory Optimization in Constrained Environments
Type
conference paper
Language
English
Original Abstract
The range of multirotor Unmanned Aerial Vehicle (UAV) applications has grown significantly over the last decade. This is to be attributed to their simple mechanical design, along with hovering and maneuvering capabilities, making them a popular choice in applications such as surveillance, aerial photography, cargo transport or infrastructure inspection. Varying mission requirements with respect to UAV target location, payload capacity, speed or time of flight combined with environmental constraints such as no-fly zones can be hard to satisfy without the use of modern trajectory optimization techniques. Trajectory optimization problems are often formulated using optimal control theory. An Optimal Control Problem (OCP) for generalized multirotor UAV introducing environmental constraints has been formulated and solved by a direct transcription approach. Furthermore, a Gauss pseudospectral method has been implemented, enabling to design a framework for UAV trajectory optimization problems in constrained environments.
Keywords
Gauss pseudospectral method, nonlinear programming, optimal control, trajectory optimization, unmanned aerial vehicle
Authors
NOVÁK, J.; CHUDÝ, P.
Released
28. 11. 2022
Publisher
International Council of the Aeronautical Sciences
Location
Stockholm
ISBN
978-1-7138-7116-3
Book
33rd Congress of the International Council of the Aeronautical Sciences, ICAS 2022
2958-4647
Periodical
ICAS Proceedings
Year of study
8
Number
11
State
Federal Republic of Germany
Pages from
5682
Pages to
5696
Pages count
15
URL
https://www.icas.org/ICAS_ARCHIVE/ICAS2022/data/papers/ICAS2022_0717_paper.pdf
BibTex
@inproceedings{BUT182523, author="Jiří {Novák} and Peter {Chudý}", title="Unmanned Aerial Vehicle's Trajectory Optimization in Constrained Environments", booktitle="33rd Congress of the International Council of the Aeronautical Sciences, ICAS 2022", year="2022", journal="ICAS Proceedings", volume="8", number="11", pages="5682--5696", publisher="International Council of the Aeronautical Sciences", address="Stockholm", isbn="978-1-7138-7116-3", issn="2958-4647", url="https://www.icas.org/ICAS_ARCHIVE/ICAS2022/data/papers/ICAS2022_0717_paper.pdf" }