Real-Time Quadrotor Trajectory Optimization with Time-Triggered Corridor Constraints

No AccessEngineering NotesReal-Time Quadrotor Trajectory Optimization with Time-Triggered Corridor ConstraintsYue Yu, Kartik Nagpal, Skye Mceowen, Behçet Açıkmeşe and Ufuk TopcuYue YuUniversity of Texas at Austin, Austin, Texas 78712*Postdoctoral Research Fellow, Oden Institute for Computational Sciences and Engineering; .Search for more papers by this author, Kartik NagpalUniversity of Texas at Austin, Austin, Texas 78712†Research Assistant, Oden Institute for Computational Sciences and Engineering; .Search for more papers by this author, Skye MceowenUniversity of Washington, Seattle, Washington 98195‡Ph.D. Student, Department of Aeronautics and Astronautics; .Search for more papers by this author, Behçet AçıkmeşeUniversity of Washington, Seattle, Washington 98195§Professor, Department of Aeronautics and Astronautics; .Search for more papers by this author and Ufuk TopcuUniversity of Texas at Austin, Austin, Texas 78712¶Associate Professor, Oden Institute for Computational Sciences and Engineering; .Search for more papers by this authorPublished Online:12 Feb 2023https://doi.org/10.2514/1.G007218SectionsRead Now ToolsAdd to favoritesDownload citationTrack citations ShareShare onFacebookTwitterLinked InRedditEmail About References [1] Elmokadem T. and Savkin A. V., “Towards Fully Autonomous UAVs: A Survey,” Sensors, Vol. 21, No. 18, 2021, Paper 6223. https://doi.org/10.3390/s21186223 Google Scholar[2] Lan M., Lai S., Lee T. H. and Chen B. M., “A Survey of Motion and Task Planning Techniques for Unmanned Multicopter Systems,” Unmanned Systems, Vol. 9, No. 2, 2021, pp. 165–198. https://doi.org/10.1142/S2301385021500151 Google Scholar[3] Ioan D., Olaru S., Prodan I., Stoican F. and Niculescu S.-I., “From Obstacle-Based Space Partitioning to Corridors and Path Planning. A Convex Lifting Approach,” IEEE Control Systems Letters, Vol. 4, No. 1, 2020, pp. 79–84. https://doi.org/10.1109/LCSYS.2019.2922414 Google Scholar[4] Zhang G. and Liu X., “UAV Collision Avoidance Using Mixed-Integer Second-Order Cone Programming,” Journal of Guidance, Control, and Dynamics, Vol. 45, No. 9, 2022, pp. 1732–1738. https://doi.org/10.2514/1.G006353 LinkGoogle Scholar[5] Deits R. and Tedrake R., “Efficient Mixed-Integer Planning for UAVs in Cluttered Environments,” 2015 IEEE International Conference on Robotics and Automation, IEEE, New York, 2015, pp. 42–49. https://doi.org/10.1109/icra.2015.7138978 Google Scholar[6] Wang Z., Liu L. and Long T., “Minimum-Time Trajectory Planning for Multi-Unmanned-Aerial-Vehicle Cooperation Using Sequential Convex Programming,” Journal of Guidance, Control, and Dynamics, Vol. 40, No. 11, 2017, pp. 2976–2982. https://doi.org/10.2514/1.G002349 LinkGoogle Scholar[7] Morgan D., Chung S.-J. and Hadaegh F. Y., “Model Predictive Control of Swarms of Spacecraft Using Sequential Convex Programming,” Journal of Guidance, Control, and Dynamics, Vol. 37, No. 6, 2014, pp. 1725–1740. https://doi.org/10.2514/1.G000218 LinkGoogle Scholar[8] Dai R. and Sun C., “Path Planning of Spatial Rigid Motion with Constrained Attitude,” Journal of Guidance, Control, and Dynamics, Vol. 38, No. 8, 2015, pp. 1356–1365. https://doi.org/10.2514/1.G000705 LinkGoogle Scholar[9] Sun C., Liu Y.-C., Dai R. and Grymin D., “Two Approaches for Path Planning of Unmanned Aerial Vehicles with Avoidance Zones,” Journal of Guidance, Control, and Dynamics, Vol. 40, No. 8, 2017, pp. 2076–2083. https://doi.org/10.2514/1.G002314 LinkGoogle Scholar[10] Mellinger D. and Kumar V., “Minimum Snap Trajectory Generation and Control for Quadrotors,” 2011 IEEE International Conference on Robotics and Automation, IEEE, New York, 2011, pp. 2520–2525. https://doi.org/10.1109/icra.2011.5980409 Google Scholar[11] Watterson M. and Kumar V., “Safe Receding Horizon Control for Aggressive MAV Flight with Limited Range Sensing,” 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, New York, 2015, pp. 3235–3240. https://doi.org/10.1109/iros.2015.7353826 Google Scholar[12] Liu S., Watterson M., Tang S. and Kumar V., “High Speed Navigation for Quadrotors with Limited Onboard Sensing,” 2016 IEEE International Conference on Robotics and Automation, IEEE, New York, 2016, pp. 1484–1491. https://doi.org/10.1109/icra.2016.7487284 Google Scholar[13] Janeček F., Klaučo M., Kalúz M. and Kvasnica M., “OPTIPLAN: A Matlab Toolbox for Model Predictive Control with Obstacle Avoidance,” IFAC-PapersOnLine, Vol. 50, No. 1, 2017, pp. 531–536. https://doi.org/10.1016/j.ifacol.2017.08.057 Google Scholar[14] Liu S., Watterson M., Mohta K., Sun K., Bhattacharya S., Taylor C. J. and Kumar V., “Planning Dynamically Feasible Trajectories for Quadrotors Using Safe Flight Corridors in 3-D Complex Environments,” IEEE Robotics and Automation Letters, Vol. 2, No. 3, 2017, pp. 1688–1695. https://doi.org/10.1109/LRA.2017.2663526 CrossrefGoogle Scholar[15] Mohta K., Watterson M., Mulgaonkar Y., Liu S., Qu C., Makineni A., Saulnier K., Sun K., Zhu A., Delmerico J., Karydis K., Atanasov N., Loianno G., Scaramuzza D., Daniilidis K., Taylor C. J. and Kumar V., “Fast, Autonomous Flight in GPS-Denied and Cluttered Environments,” Journal of Field Robotics, Vol. 35, No. 1, 2017, pp. 101–120. https://doi.org/10.1002/rob.21774 CrossrefGoogle Scholar[16] Gao F., Wu W., Pan J., Zhou B. and Shen S., “Optimal Time Allocation for Quadrotor Trajectory Generation,” 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, New York, 2018, pp. 4715–4722. https://doi.org/10.1109/iros.2018.8593579 Google Scholar[17] Zhang X., Fang Y. and Sun N., “Minimum-Time Trajectory Planning for Underactuated Overhead Crane Systems with State and Control Constraints,” IEEE Transactions on Industrial Electronics, Vol. 61, No. 12, 2014, pp. 6915–6925. https://doi.org/10.1109/TIE.2014.2320231 Google Scholar[18] Szmuk M., Pascucci C. A. and Acikmese B., “Real-Time Quad-Rotor Path Planning for Mobile Obstacle Avoidance Using Convex Optimization,” 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, New York, 2018, pp. 1–9. https://doi.org/10.1109/iros.2018.8594351 Google Scholar[19] Szmuk M., Malyuta D., Reynolds T. P., Mceowen M. S. and Acikmese B., “Real-Time Quad-Rotor Path Planning Using Convex Optimization and Compound State-Triggered Constraints,” 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, New York, 2019, pp. 7666–7673. https://doi.org/10.1109/iros40897.2019.8967706 Google Scholar[20] Ioan D., Prodan I., Olaru S., Stoican F. and Niculescu S.-I., “Navigation in Cluttered Environments with Feasibility Guarantees,” IFAC-PapersOnLine, Vol. 53, No. 2, 2020, pp. 5487–5492. https://doi.org/10.1016/j.ifacol.2020.12.1554 Google Scholar[21] Lofberg J., “YALMIP: A Toolbox for Modeling and Optimization in MATLAB,” 2004 IEEE International Conference on Robotics and Automation, IEEE, New York, 2004, pp. 284–289. https://doi.org/10.1109/cacsd.2004.1393890 Google Scholar[22] Domahidi A., Chu E. and Boyd S., “ECOS: An SOCP Solver for Embedded Systems,” 2013 European Control Conference, IEEE, New York, 2013, pp. 3071–3076. https://doi.org/10.23919/ecc.2013.6669541 Google Scholar[23] Yu Y., Elango P. and Acikmese B., “Proportional-Integral Projected Gradient Method for Model Predictive Control,” IEEE Control Systems Letters, Vol. 5, No. 6, 2021, pp. 2174–2179. https://doi.org/10.1109/LCSYS.2020.3044977 CrossrefGoogle Scholar[24] Yu Y., Elango P., Topcu U. and Açıkmeşe B., “Proportional-Integral Projected Gradient Method for Conic Optimization,” Automatica, Vol. 142, Aug. 2022, Paper 110359. https://doi.org/10.1016/j.automatica.2022.110359 Google Scholar[25] Yu Y., Elango P., Acikmese B. and Topcu U., “Extrapolated Proportional-Integral Projected Gradient Method for Conic Optimization,” IEEE Control Systems Letters, Vol. 7, June 2023, pp. 73–78. https://doi.org/10.1109/LCSYS.2022.3186647 CrossrefGoogle Scholar[26] Kuczyński J. and Woźniakowski H., “Estimating the Largest Eigenvalue by the Power and Lanczos Algorithms with a Random Start,” SIAM Journal on Matrix Analysis and Applications, Vol. 13, No. 4, 1992, pp. 1094–1122. https://doi.org/10.1137/0613066 CrossrefGoogle Scholar[27] Gurobi Optimizer Reference Manual, Gurobi Optimization, Beaverton, OR, 2022, https://www.gurobi.com/documentation/9.5/refman/index.html [retrieved 30 Dec. 2022]. Google Scholar[28] Bauschke H. H. and Combettes P. L., Convex Analysis and MonotoneOperator Theory in Hilbert Spaces, Springer International, Cham, Switzerland, 2017, p. 558. https://doi.org/10.1007/978-3-319-48311-5 Google Scholar[29] Bauschke H. H., Bui M. N. and Wang X., “Projecting onto the Intersection of a Cone and a Sphere,” SIAM Journal on Optimization, Vol. 28, No. 3, 2018, pp. 2158–2188. https://doi.org/10.1137/17M1141849 CrossrefGoogle Scholar[30] Szmuk M., “Successive Convexification and High Performance Feedback Control for Agile Flight,” Ph.D. Thesis, Dept. of Aeronautics and Astronautics, Univ. of Washington, Seattle, WA, 2019. Google Scholar Previous article Next article FiguresReferencesRelatedDetails What's Popular Volume 46, Number 6June 2023 CrossmarkInformationCopyright © 2023 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved. All requests for copying and permission to reprint should be submitted to CCC at www.copyright.com; employ the eISSN 1533-3884 to initiate your request. See also AIAA Rights and Permissions www.aiaa.org/randp. TopicsAeronauticsAircraft Collision Avoidance SystemsAircraft Operations and TechnologyAircraftsAlgorithms and Data StructuresAviationAviation SafetyComputing, Information, and CommunicationControl TheoryData ScienceGuidance, Navigation, and Control SystemsOptimal Control TheoryOptimization AlgorithmQuadcopterUnmanned Aerial Vehicle KeywordsQuad RotorOptimization AlgorithmTrajectory OptimizationCollision Avoidance SystemAcknowledgmentsThis work is jointly supported by the National Aeronautics and Space Administration under grant 80NSSC21M0071, the National Science Foundation under grant CNS-1836900, the U.S. Air Force Research Laboratory under grant FA9550-19-1-0169, the U.S. Air Force Office of Scientific Research under grant A9550-20-1-0053, and the Office of Naval Research under grants N00014-16-1-2877 and N00014-16-1-3144.PDF Received30 August 2022Accepted2 January 2023Published online12 February 2023