Integration of acoustic constraints in trajectory generation

Optimal control based trajectory generation offers the ability to formulate complex problems while optimizing the performance of the system control inputs. Nevertheless, adding acoustic constraints to the optimal control problem (OCP) can be highly challenging. The classical resolution approach employs a “first-discretize-then-optimize” strategy using direct methods. However, this approach leads to significant computational costs, which in turn limits its applicability. Recent studies suggest using the acoustic reciprocity theorem (ART) to formulate the problem as one of obstacles collision avoidance. Hence, this study proposes investigating the formulation and solution of an OCP based on this theorem. The ART is combined with the Boundary Element Method (BEM) for the acoustic part of the problem. The OCP is implemented using successive convexification (SCvx) approach which offers a convenient framework to take into account acoustic constraint in trajectory planning generation. Promising experimental results highlight the applicability of our formulation based on the ART and guidelines for further development are provided.