Solving Trajectory Optimization Problems in the Presence of Probabilistic Constraints

doi:10.1109/TCYB.2019.2895305

	Solving Trajectory Optimization Problems in the Presence of Probabilistic Constraints
	Chai, Runqi 3; Savvaris, Al 3; Tsourdos, Antonios 3; Chai, Senchun 2; Xia, Yuanqing 2; Wang, Shuo 1
刊名	IEEE TRANSACTIONS ON CYBERNETICS
	2020-10-01
卷号	50 期号:10 页码:4332-4345
关键词	Planning Probabilistic logic Trajectory optimization Optimal control Prediction algorithms Approximation function chance-constrained nonlinear programming probabilistic constraints trajectory optimization
ISSN号	2168-2267
DOI	10.1109/TCYB.2019.2895305
通讯作者	Chai, Senchun(chaisc97@163.com)
英文摘要	The objective of this paper is to present an approximation-based strategy for solving the problem of nonlinear trajectory optimization with the consideration of probabilistic constraints. The proposed method defines a smooth and differentiable function to replace probabilistic constraints by the deterministic ones, thereby converting the chance-constrained trajectory optimization model into a parametric nonlinear programming model. In addition, it is proved that the approximation function and the corresponding approximation set will converge to that of the original problem. Furthermore, the optimal solution of the approximated model is ensured to converge to the optimal solution of the original problem. Numerical results, obtained from a new chance-constrained space vehicle trajectory optimization model and a 3-D unmanned vehicle trajectory smoothing problem, verify the feasibility and effectiveness of the proposed approach. Comparative studies were also carried out to show the proposed design can yield good performance and outperform other typical chance-constrained optimization techniques investigated in this paper.
WOS关键词	MODEL-PREDICTIVE CONTROL ; BUNDLE METHODS ; APPROXIMATION ; ROBUSTNESS ; AVOIDANCE ; STABILITY ; COVERAGE ; VEHICLES ; SYSTEMS ; SEARCH
WOS研究方向	Automation & Control Systems ; Computer Science
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000572625500012
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/41979]
专题	智能机器人系统研究
通讯作者	Chai, Senchun
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China 3.Cranfield Univ, Sch Aerosp Transport & Mfg, Cranfield MK43 0AL, Beds, England
推荐引用方式 GB/T 7714	Chai, Runqi,Savvaris, Al,Tsourdos, Antonios,et al. Solving Trajectory Optimization Problems in the Presence of Probabilistic Constraints[J]. IEEE TRANSACTIONS ON CYBERNETICS,2020,50(10):4332-4345.
APA	Chai, Runqi,Savvaris, Al,Tsourdos, Antonios,Chai, Senchun,Xia, Yuanqing,&Wang, Shuo.(2020).Solving Trajectory Optimization Problems in the Presence of Probabilistic Constraints.IEEE TRANSACTIONS ON CYBERNETICS,50(10),4332-4345.
MLA	Chai, Runqi,et al."Solving Trajectory Optimization Problems in the Presence of Probabilistic Constraints".IEEE TRANSACTIONS ON CYBERNETICS 50.10(2020):4332-4345.