Improved Gauss Pseudospectral Method for UAV Trajectory Planning with Terminal Position Constraints


Qingquan Hu, Ping Liu, Jinfeng Yang, Journal of Information Processing Systems Vol. 19, No. 5, pp. 563-575, Oct. 2023  

https://doi.org/10.3745/JIPS.04.0286
Keywords: Gauss Pseudospectral Optimization, Terminal Constraints, Trajectory Planning, UAV
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Abstract

Trajectory planning is a key technology for unmanned aerial vehicles (UAVs) to achieve complex flight missions. In this paper, a terminal constraints conversion-based Gauss pseudospectral trajectory planning optimization method is proposed. Firstly, the UAV trajectory planning mathematical model is established with considering the boundary conditions and dynamic constraints of UAV. Then, a terminal constraint handling strategy is presented to tackle terminal constraints by introducing new penalty parameters so as to improve the performance index. Combined with Gauss-Legendre collocation discretization, the improved Gauss pseudospectral method is given in detail. Finally, simulation tests are carried out on a four-quadrotor UAV model with different terminal constraints to verify the performance of the proposed method. Test studies indicate that the proposed method performances well in handling complex terminal constraints and the improvements are efficient to obtain better performance indexes when compared with the traditional Gauss pseudospectral method.


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Cite this article
[APA Style]
Hu, Q., Liu, P., & Yang, J. (2023). Improved Gauss Pseudospectral Method for UAV Trajectory Planning with Terminal Position Constraints. Journal of Information Processing Systems, 19(5), 563-575. DOI: 10.3745/JIPS.04.0286.

[IEEE Style]
Q. Hu, P. Liu, J. Yang, "Improved Gauss Pseudospectral Method for UAV Trajectory Planning with Terminal Position Constraints," Journal of Information Processing Systems, vol. 19, no. 5, pp. 563-575, 2023. DOI: 10.3745/JIPS.04.0286.

[ACM Style]
Qingquan Hu, Ping Liu, and Jinfeng Yang. 2023. Improved Gauss Pseudospectral Method for UAV Trajectory Planning with Terminal Position Constraints. Journal of Information Processing Systems, 19, 5, (2023), 563-575. DOI: 10.3745/JIPS.04.0286.