Abstract
It is challenging to generate optimal trajectories for nonlinear dynamic systems under external disturbances. In this brief, we present a novel approach for planning safe trajectories of the chance-constrained trajectory optimization problems with nonconvex constraints. First, the chance constraints are handled by deterministic ones which show its availability. We derive an iterative convex optimization method to solve the optimal control problem. Then the chance-constrained optimal control (CCOCP) problem is reformed to be a nonlinear programming problem (NLP) through the hp-adaptive pseudospectral method. An iterative successive linearization algorithm is detailed to convex the NLP to be a convex optimization one which described as a second-order cone programming problem. We demonstrate the proposed approach on a 3-DoF of unmanned aerial vehicle system under chance-constrained. The simulation results show reliable solutions for the UAV chance-constrained trajectory optimization problem.
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