UAV Path Planning with No-Fly-Zone Constraints by Convex Optimization
Xi Chen, Zhe Lin, HE Hai-yan, Qinglei Hu, Ruihao Cao · 2021
This paper presents a convex optimization methodology for an unmanned aerial vehicle (UAV) path planning problem with no-fly-zone (NFZ) constraints. The great challenge is to cast the original problem into a second-order cone programming (SOCP) frame. Since the original dynamic model of the UAV is nonlinear, a special transformation is applied to linearize the dynamic model. To make the problem tractable, this paper employs lossless convexification and relaxation. Then the L1 penalty method is introduced to ensure the feasibility of the transformed problem. The feasibility and effectiveness of the designed successive SOCP algorithm are demonstrated by numerical simulations.