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.
Nonlinear Model Predictive Control for UAV Trajectory Optimization
Lect. Notes Electrical Eng.
International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024
2025-03-02
8 pages
Article/Chapter (Book)
Electronic Resource
English
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