This paper established a non-convex control model consists of time-invariant nonlinear system, non-affine equality constraint and non-convex inequality constrain aiming at the path planning problem of unmanned aerial vehicle, along with an algorithm designed for solving the aforementioned model. Based on iterative optimization, it proposed the convex optimization iteration method and penalty function optimization strategy. The former used the concave-convex process(CCCP) and Taylor formula to convexity the model, while the latter added the processed term to the objective function as a penalty term to solve the feasibility limit of the initial point. It is proved that the proposed method strictly converges to a Karush-Kuhn-Tucker(KKT) point of the original problem. Simulation experimental results verify the feasibility and superiority of the penalty function convex optimization iteration algorithm, and it indicates that the proposed algorithm can provide a flight path satisfying the conditions for the unmanned aerial vehicle.

[2021-03-05] Printed Article /doc/2020.02.0047/v2