This paper investigates a trajectory planning algorithm for unmanned aerial vehicle (UAV) based on Nonlinear Model Predictive Control (NMPC) scheme. We propose a control parameterization method to discretize the control domain within short time steps, and when the optimization horizon is short, the sought-after control variables are segmented into piecewise constant values. This transformation converts the UAV trajectory planning problem into a nonlinear programming problem, alleviating the heavy computational burden associated with solving NMPC optimization problems online. Finally, the effectiveness of the proposed NMPC scheme is demonstrated through numerical simulation.


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    Titel :

    Nonlinear Model Predictive Control for UAV Trajectory Optimization


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Yan, Liang (Herausgeber:in) / Duan, Haibin (Herausgeber:in) / Deng, Yimin (Herausgeber:in) / Cui, Yi (Autor:in) / Li, Bin (Autor:in) / Shi, Mingming (Autor:in)

    Kongress:

    International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024



    Erscheinungsdatum :

    02.03.2025


    Format / Umfang :

    8 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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