Fast Entry Trajectory Planning Method for Wide-Speed Range UASs

Convex optimization has gained increasing popularity in trajectory planning methods for wide-speed range unmanned aerial systems (UASs) with multiple no-fly zones (NFZs) in the entry phase. To address the issues of slow or even infeasible solutions, a modified fast trajectory planning method using the approaches of variable trust regions and adaptive generated initial values is proposed in this paper. A dimensionless energy-based dynamics model detailing the constraints of the entry phase is utilized to formulate the original entry trajectory planning problem. This problem is then transformed into a finite-dimensional convex programming problem, using techniques such as successive linearization and interval trapezoidal discretization. Finally, a variable trust region strategy and an adaptive initial value generation strategy are adopted to accelerate the solving process in complex flight environments. The experimental results imply that the strategy proposed in this paper can significantly reduce the solution time of trajectory planning for wide-speed range UASs in complex environments.