An MISOCP Based Trajectory Optimization Method for Complex No-fly Zone
In the context of complex evasion problems,to enhance the global optimization capability,an iterative algorithm based on mixed-integer second-order cone programming(MISOCP)is proposed.Firstly,the quantified analysis of the errors caused by traditional successive convexification methods on no-fly zone(NFZ)constraints is conducted.Subsequently,to eliminate this error,NFZ constraints are reconstructed into mixed-integer linear constraints using integer variables and variable transformation.Lastly,the original problem is transformed into a MISOCP problem,and an iterative algorithm is designed for solving it.Simulation results demonstrate that,given a variety of different initial guess trajectories,our method has strong global optimization capabilities,and the computation time is only 20%of that required by GPOPS.For randomly generated complex NFZ scenarios,the proposed method shows good robustness,and the overall computational time within the range of 10 seconds.
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