论文标题
带有时间触发的走廊约束的实时四轨轨迹优化
Real-Time Quadrotor Trajectory Optimization with Time-Triggered Corridor Constraints
论文作者
论文摘要
飞行二次操作的关键之一是在无碰撞的走廊中优化其轨迹。这些走廊对轨迹施加了非凸的约束，从而使实时轨迹优化挑战。我们介绍了一种新型的数值方法，该方法通过时间触发的凸面走廊约束近似于非convex走廊约束。该方法结合了二聚式搜索和重复的不可见性检测。我们进一步开发了所提出方法的自定义C ++实现，基于一种检测不可行性并利用问题结构的一阶圆锥优化方法。我们使用数值模拟在随机生成的问题实例以及带有箍障碍物的室内飞行实验上证明了提出方法的效率和有效性。与混合整数编程相比，提出的方法约为50--200倍。
One of the keys to flying quadrotors is to optimize their trajectories within the set of collision-free corridors. These corridors impose nonconvex constraints on the trajectories, making real-time trajectory optimization challenging. We introduce a novel numerical method that approximates the nonconvex corridor constraints with time-triggered convex corridor constraints. This method combines bisection search and repeated infeasibility detection. We further develop a customized C++ implementation of the proposed method, based on a first-order conic optimization method that detects infeasibility and exploits problem structure. We demonstrate the efficiency and effectiveness of the proposed method using numerical simulation on randomly generated problem instances as well as indoor flight experiments with hoop obstacles. Compared with mixed integer programming, the proposed method is about 50--200 times faster.
