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| Gliding Vehicle Trajectory Planning Based on Sequential Convex Optimization Algorithm |
| LI Zhen1， XU Bingqing2， LI Qingbo1， YAN Xiongwei1， LI Boya1 |
| 1. Shanghai Electro-Mechanical Engineering Institute， Shanghai 201109， China；
2. Military Representative Office in Shanghai， Shanghai 201109， China
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Abstract For the problem of multi-constrained trajectory planning of gliding vehicle in the unpowered glide phase, a set of fast solving algorithms is presented based on convex optimization method. The algorithm establishes an extended dimension state model by introducing control derivative, obtains discrete optimization problems based on piecewise Gaussian pseudo-spectral method, and accelerates the convergence solving process by relying on three designed target penalty functions. The simulation results show that the algorithm can quickly converge to a set of feasible solutions of the original problem at any initial value that does not satisfy the constraint, and the computational efficiency is higher than that of the traditional Gaussian pseudo-spectral method.
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Received: 27 September 2021
Published: 24 December 2021
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2021, Vol. 4 
