Study on Trajectory Optimization Algorithm for UAV Using Receding Horizon Control
Qi Wang · Aeronautical Computing Technique · 2007
A new method is presented for the UAV's large trajectory optimization.MILP(Mix-Integer Linear Programming) has been applied within a RHC(Receding Horizon Control) framework to plan the UAV's trajectory to a goal,constrained by no-fly zones and the UAV's maximum speed and turning rate.The terminal penalty is used to accounts for estimation of the time from this point to the goal.The emulator's result shows that,using this method,the UAV can triumphantly get through the areas with obstacles,and to work consistently on large trajectory optimization problems that are intractable for the FHC(Fixed Horizon Controller).