Abstract
<p style='text-indent:20px;'>A time optimal path planning problem for the Quad-rotor unmanned aerial vehicles (UAVs) is investigated in this paper. A 3D environment with obstacles is considered, which makes the problem more challenging. To tackle this challenge, the problem is formulated as a nonlinear optimal control problem with continuous state inequality constraints and terminal equality constraints. A control parametrization based method is proposed. Particularly, the constraint transcription method together with a local smoothing technique is utilized to handle the continuous inequality constraints. The original problem is then transformed into a nonlinear program. The corresponding gradient formulas for both of the cost function and the constraints are derived, respectively. Simulation results show that the proposed path planning method has less tracking error than that of the rapid-exploring random tree (RRT) algorithm and that of the A star algorithm. In addition, the motor speed has less changes for the proposed algorithm than that of the other two algorithms.</p>
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