Minimum Time Trajectory Optimization for a 6-DoF Quadrotor UAV Using Successive Convexification
Hutesh Sandhu, Prateek Priyaranjan Pradhan, Ketan Rajawat, Mangal Kothari · 2024
In this paper, successive convexification is employed to solve the nonconvex minimum time trajectory generation problem for a 6-degree-of-freedom (6-DoF) quadrotor model. Contrary to the existing work, where only the translational dynamics is taken into account assuming the quadrotor to be a point mass system, the proposed formulation considers both translational as well as the rotational dynamics. The introduction of the highly nonlinear rotational dynamics adds more nonconvexities to the optimal control problem, making the problem more challenging to solve. Using the proposed convex formulation, the original nonconvex problem is converted into a second-order cone programming (SOCP) sub-problem and then the problem is solved itteratively. The efficacy of the problem is verified through solving the minimum time problem for a quadrotor in an obstacle filled environment.