Embedded Hardware Appropriate Fast 3D Trajectory Optimization for Fixed Wing Aerial Vehicles by Leveraging Hidden Convex Structures
Vivek Kantilal Adajania,Houman Masnavi,Fatemeh Rastgar,Karl Kruusamae,Arun Kumar Singh,Vivek Kantilal Adajania,Houman Masnavi,Fatemeh Rastgar,Karl Kruusamae,Arun Kumar Singh
Most commercially available fixed-wing aerial vehicles (FWV) can carry only small, lightweight computing hardware such as Jetson TX2 onboard. Solving non-linear trajectory optimization on these computing resources is computationally challenging even while considering only the kinematic motion model. Most importantly, the computation time increases sharply as the environment becomes more cluttered....
