Chance-Constrained Approach to Optimal Path Planning for Urban UAS
Rachit Aggarwal, Mrinal Kumar · AIAA Scitech 2020 Forum · 2020
In this paper, the problem of optimal path planning for Unmanned Aerial Systems (UAS) in presence of uncertain keep-out zones is presented. Constrained optimal control problems are heavily reliant on the initial guess path provided to the optimal control solver, which affects both the computation time and the optimality of the solution. The constrained Delaunay triangulation mesh approach used in the finite element analysis is leveraged for the initial guess path generation. The chance constraints are transformed to deterministic counterparts using the inverse cumulative distribution function of the random parameter and an optimal solution is obtained. By varying the allowable risk, a family of risk-aware solutions is generated to aid the decision making process.