Optimal Trajectory-Planning of UAVs via B-Splines and Disjunctive Programming

Alireza Babaei; Amirhossein Karimi

arxiv: 1807.02931 · v1 · pith:PB6UMIBTnew · submitted 2018-07-09 · 🧮 math.OC

Optimal Trajectory-Planning of UAVs via B-Splines and Disjunctive Programming

Alireza Babaei , Amirhossein Karimi This is my paper

classification 🧮 math.OC

keywords disjunctiveprogrammingalgorithmoptimizationproblemadvantagesaerialapplied

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This paper investigates an efficient algorithm for trajectory planning problem of autonomous unmanned aerial vehicles which fly over three-dimensional terrains. The proposed algorithm combines convex optimization with disjunctive programming and receding horizon concept, which has many advantages, such as a high computational speed. Disjunctive programming is applied in order to relax the non-convex constraints of the problem. Moreover, the B-spline curves are employed to represent the trajectories which should be generated in the optimization process.

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