Leveraging Lazy Theta* Path Planning for UAV Pseudospectral Trajectory Optimization Initialization

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F24%3A43973037" target="_blank" >RIV/49777513:23520/24:43973037 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ICARCV63323.2024.10821663" target="_blank" >https://doi.org/10.1109/ICARCV63323.2024.10821663</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICARCV63323.2024.10821663" target="_blank" >10.1109/ICARCV63323.2024.10821663</a>

Result language
angličtina
Original language name
Leveraging Lazy Theta* Path Planning for UAV Pseudospectral Trajectory Optimization Initialization
Original language description
This paper examines the influence of initial guesses on trajectory planning for unmanned aerial vehicles (UAVs) formulated in terms of the optimal control problem (OCP). The OCP is solved numerically using the pseudospectral collocation method. Our approach leverages a path identified through Lazy Theta* and incorporates known constraints and a model of the UAV's behavior for the initial guess. Our findings indicate that a suitable initial guess has a beneficial influence on the planned trajectory and suggests promising directions for future research.
Czech name
—
Czech description
—

Project
<a href="/en/project/TN02000054" target="_blank" >TN02000054: Božek Vehicle Engineering National Center of Competence</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
2024 18th International Conference on Control, Automation, Robotics and Vision (ICARCV)
ISBN
979-8-3315-1849-3
ISSN
2474-2953
e-ISSN
2474-963X
Number of pages
6
Pages from-to
422-427
Publisher name
IEEE
Place of publication
Piscataway
Event location
Dubaj, UAE
Event date
Dec 12, 2024
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
—

Similar results(10)