This paper presents a general quadratic optimization methodology for autonomous path planning of spatial rigid motion with constrained attitude. The motion to be planned has six degrees of freedom and is assumed under constant velocity in the body frame. The objective is to determine the motion orientation (or attitude), handled as control variables, along the planned paths. A procedure is discussed to transform the rotational constraints and attitude constraints as quadratic functions in terms of unit quaternions, and the path-planning problem is reformulated as a general, quadratically constrained, quadratic programming problem. A semidefinite relaxation method is then applied to obtain a bound on the global optimal value of the nonconvex, quadratically constrained, quadratic programming problem. Subsequently, an iterative rank minimization approach is proposed to find the optimal solution. Application examples of aircraft path-planning problems are presented using the proposed method and compared with those obtained from the other method.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Path Planning of Spatial Rigid Motion with Constrained Attitude


    Beteiligte:
    Dai, Ran (Autor:in) / Sun, Chuangchuang (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.08.2015




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch