发表机构
Universidade Federal de Minas Gerais; University of Bergamo（米纳斯吉拉斯联邦大学; 贝加莫大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
研究无人机在非凸空中走廊的导航规划，核心方法是基于混合整数跟踪模型预测控制公式，嵌入特定成本与约束，主要贡献是生成满足约束且收敛目标的动态有效轨迹，无需外部全局规划。
AI 中文摘要
本文提出了一种用于无人机在非凸城市空中走廊导航的运动规划框架。该规划器基于混合整数跟踪模型预测控制公式，在单个优化问题中确保走廊可行性和动态一致性。为保证收敛到目标并减轻非凸几何引起的局部最小值问题，基于最短路径的带可行性约束的偏移成本直接嵌入规划问题。数值模拟表明，该公式能生成满足走廊约束并收敛到目标的动态有效轨迹，无需外部全局规划阶段。
英文摘要
This work presents a motion planning framework for UAV navigation in non-convex urban air corridors. The planner is based on a mixed-integer tracking model predictive control formulation that enforces corridor feasibility and dynamic consistency within a single optimization problem. To guarantee convergence to the target and mitigate the occurrence of local minima induced by non-convex geometry, a shortest-path-based offset cost with feasibility constraints is embedded directly into the planning problem. Numerical simulations show that the proposed formulation generates dynamically valid trajectories that satisfy the corridor constraints and converge to the target without relying on external global planning stages.
CommentsAccepted for publication at the 23rd IFAC World Congress (Busan, Korea)
