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This paper investigates a trajectory planning algorithm for unmanned aerial vehicle (UAV) based on Nonlinear Model Predictive Control (NMPC) scheme. We propose a control parameterization method to discretize the control domain within short time steps, and when the optimization horizon is short, the sought-after control variables are segmented into piecewise constant values. This transformation converts the UAV trajectory planning problem into a nonlinear programming problem, alleviating the heavy computational burden associated with solving NMPC optimization problems online. Finally, the effectiveness of the proposed NMPC scheme is demonstrated through numerical simulation.

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Nonlinear Model Predictive Control for UAV Trajectory Optimization

  • 会议论文

  • 发表日期：

    2025年

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  • Yi Cui,
  • Bin Li,
  • Mingming Shi

摘要

This paper investigates a trajectory planning algorithm for unmanned aerial vehicle (UAV) based on Nonlinear Model Predictive Control (NMPC) scheme. We propose a control parameterization method to discretize the control domain within short time steps, and when the optimization horizon is short, the sought-after control variables are segmented into piecewise constant values. This transformation converts the UAV trajectory planning problem into a nonlinear programming problem, alleviating the heavy computational burden associated with solving NMPC optimization problems online. Finally, the effectiveness of the proposed NMPC scheme is demonstrated through numerical simulation.