二段階最適化によるUAV軌道の高速化：空間と時間の同時割り当て
Simultaneous Spatial and Temporal Assignment for Fast UAV Trajectory Optimization using Bilevel Optimization
安全集合の制約を上層問題に移すことで下層の凸QPを高速化し、解析的勾配で時間割り当てと経路点を同時更新するUAV軌道計画フレームワークを提案。計算時間が安全集合数に対して線形にスケールすることを示した。
著者: Qianzhong Chen, Sheng Cheng, Naira Hovakimyan
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
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.
