Enhancing Bilevel Optimization for UAV Time-Optimal Trajectory using a Duality Gap Approach
Gao Tang,Weidong Sun,Kris Hauser,Gao Tang,Weidong Sun,Kris Hauser
Time-optimal trajectories for dynamic robotic vehicles are difficult to compute even for state-of-the-art nonlinear programming (NLP) solvers, due to nonlinearity and bang-bang control structure. This paper presents a bilevel optimization framework that addresses these problems by decomposing the spatial and temporal variables into a hierarchical optimization. Specifically, the original problem is...
