论文标题
同时使用双层优化的快速无人机轨迹优化的空间和时间分配
Simultaneous Spatial and Temporal Assignment for Fast UAV Trajectory Optimization using Bilevel Optimization
论文作者
论文摘要
在本文中，我们为无人机（UAVS）的快速轨迹规划提出了一个框架。我们的框架是根据现有的双层优化重新制定的，在该优化中，低级问题解决了具有固定时间分配的最佳轨迹，而高级问题则使用分析梯度更新时间分配。较低级别的问题包括安全集约束（以不平等约束的形式），并作为凸二次程序（QP）施放。我们的公式通过排除安全集的不等式约束来修改较低级别的QP，从而大大减少了计算时间。安全集约束将其移至上层问题，在该问题中，可行的航路点与OPTNET启用的分析梯度一起更新了可行的航路点。我们在模拟中验证了我们的方法，在该方法中，我们的方法的计算时间相对于安全集的数量线性缩放，与呈指数缩放的最新尺度相反。
In this paper, we propose a framework for fast trajectory planning for unmanned aerial vehicles (UAVs). Our framework is reformulated from an existing bilevel optimization, in which the lower-level problem solves for the optimal trajectory with a fixed time allocation, whereas the upper-level problem updates the time allocation using analytical gradients. The lower-level problem incorporates the safety-set constraints (in the form of inequality constraints) and is cast as a convex quadratic program (QP). Our formulation modifies the lower-level QP by excluding the inequality constraints for the safety sets, which significantly reduces the computation time. The safety-set constraints are moved to the upper-level problem, where the feasible waypoints are updated together with the time allocation using analytical gradients enabled by the OptNet. We validate our approach in simulations, where our method's computation time scales linearly with respect to the number of safety sets, in contrast to the state-of-the-art that scales exponentially.
