[1]MU Lingxia,LI Xiao,WANG Ban,et al.Trajectory planning method based on improved sequential convex optimization algorithm for multiple UAVs[J].CAAI Transactions on Intelligent Systems,2025,20(1):128-138.[doi:10.11992/tis.202312035]
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Trajectory planning method based on improved sequential convex optimization algorithm for multiple UAVs

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 20 Number of periods: 2025 1 Page number: 128-138 Column: 学术论文—智能系统 Public date: 2025-01-05
Title:
Trajectory planning method based on improved sequential convex optimization algorithm for multiple UAVs
Author(s):
MU Lingxia1;  LI Xiao1;  WANG Ban2;  ZHANG Youmin3;  FENG Nan4;  XUE Xianghong1
1. School of Automation and Information Engineering, Xi’an University of Technology, Xi’an 710048, China;
2. School of Aeronautics, Northwestern Polytechnical University, Xi’an 710072, China;
3. Department of Mechanical, Industrial & Aerospace Engineering, Concordia University, Montreal H3G1M8, Canada;
4. School of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing 100083, China
Keywords:
multiple UAVs; flight trajectory planning; obstacle avoidance constraint; sign distance function; convex optimization; adaptative feasible region; approximate convex subproblem; cooperative arrival
CLC:
TP273; V279
DOI:
10.11992/tis.202312035
Abstract:
The rapid development of artificial intelligence technology in recent years has made the execution of collaborative tasks using multiple unmanned aerial vehicles (UAVs) a prominent research topic. In this study, the path planning problem for a multi-UAV cooperative arriving at a target point in a complex environment is studied. First, an optimal control problem is formulated. The non-convex obstacle avoidance constraints are addressed using the sign distance function. Then, the obstacle avoidance constraints between the discrete sequences of UAVs are considered to ensure continuous flight safety for multiple UAVs. Finally, a convex optimization algorithm for adaptive feasible region sequences is proposed, which ensures that the solution of the approximate convex problem can be found in each sequence iteration and the optimal trajectory of multiple UAVs can be quickly determined. The algorithm is suitable for a multi-UAV cooperative arriving at specific target points in an obstacle environment and has a fast convergence speed.
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Last Update: 2025-01-05

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