RHO-based convex optimization method applied to cooperative trajectory planning for multiple UAVs

Abstract

This paper presents an optimization algorithm for trajectory planning of multiple unmanned aerial vehicles (UAVs). The goal is to generate three-dimensional trajectories satisfying the initial and terminal state constraints. The framework of cooperative trajectory planning is developed based on receding horizon optimization (RHO). The solution of trajectory optimization is obtained by using the convex optimization method, which serves as a convenient tool for dealing with equality and inequality constraints. The obstacle avoidance is also achieved by transforming the non-convex constraints to convex constraints. The effectiveness of the trajectory planning algorithm is tested by numerical simulations.