Neural Network-Based Path Planning for Fixed-Wing UAVs with Constraints on Terminal Roll Angle
This paper presents a neural network-based path planning method for fixed-wing UAVs under terminal roll-angle constraints. The nonlinear optimal path planning problem is first formulated as an optimal control problem. The necessary conditions derived from Pontryagin’s Maximum Principle are then esta...
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MDPI AG
2025-05-01
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| Series: | Drones |
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| Online Access: | https://www.mdpi.com/2504-446X/9/5/378 |
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| author | Qian Xu Fanchen Wu Zheng Chen |
| author_facet | Qian Xu Fanchen Wu Zheng Chen |
| author_sort | Qian Xu |
| collection | DOAJ |
| description | This paper presents a neural network-based path planning method for fixed-wing UAVs under terminal roll-angle constraints. The nonlinear optimal path planning problem is first formulated as an optimal control problem. The necessary conditions derived from Pontryagin’s Maximum Principle are then established to convert extremal trajectories as the solutions of a parameterized system. Additionally, a sufficient condition is presented to guarantee that the obtained solution is at least locally optimal. By simply propagating the parameterized system, a training dataset comprising at least locally optimal trajectories can be constructed. A neural network is then trained to generate the nonlinear optimal control command in real time. Finally, numerical examples demonstrate that the proposed method robustly ensures the generation of optimal trajectories in real time while satisfying the prescribed terminal roll-angle constraint. |
| format | Article |
| id | doaj-art-9361afa5c2a44551977a6c0fb4fedf0d |
| institution | OA Journals |
| issn | 2504-446X |
| language | English |
| publishDate | 2025-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj-art-9361afa5c2a44551977a6c0fb4fedf0d2025-08-20T01:56:16ZengMDPI AGDrones2504-446X2025-05-019537810.3390/drones9050378Neural Network-Based Path Planning for Fixed-Wing UAVs with Constraints on Terminal Roll AngleQian Xu0Fanchen Wu1Zheng Chen2School of Aeronautics and Astronautics, Zhejiang University, Hangzhou 310027, ChinaSchool of Aeronautics and Astronautics, Zhejiang University, Hangzhou 310027, ChinaSchool of Aeronautics and Astronautics, Zhejiang University, Hangzhou 310027, ChinaThis paper presents a neural network-based path planning method for fixed-wing UAVs under terminal roll-angle constraints. The nonlinear optimal path planning problem is first formulated as an optimal control problem. The necessary conditions derived from Pontryagin’s Maximum Principle are then established to convert extremal trajectories as the solutions of a parameterized system. Additionally, a sufficient condition is presented to guarantee that the obtained solution is at least locally optimal. By simply propagating the parameterized system, a training dataset comprising at least locally optimal trajectories can be constructed. A neural network is then trained to generate the nonlinear optimal control command in real time. Finally, numerical examples demonstrate that the proposed method robustly ensures the generation of optimal trajectories in real time while satisfying the prescribed terminal roll-angle constraint.https://www.mdpi.com/2504-446X/9/5/378fixed-wing UAVneural networkpath planningPontryagin’s Maximum Principleparameterized system |
| spellingShingle | Qian Xu Fanchen Wu Zheng Chen Neural Network-Based Path Planning for Fixed-Wing UAVs with Constraints on Terminal Roll Angle Drones fixed-wing UAV neural network path planning Pontryagin’s Maximum Principle parameterized system |
| title | Neural Network-Based Path Planning for Fixed-Wing UAVs with Constraints on Terminal Roll Angle |
| title_full | Neural Network-Based Path Planning for Fixed-Wing UAVs with Constraints on Terminal Roll Angle |
| title_fullStr | Neural Network-Based Path Planning for Fixed-Wing UAVs with Constraints on Terminal Roll Angle |
| title_full_unstemmed | Neural Network-Based Path Planning for Fixed-Wing UAVs with Constraints on Terminal Roll Angle |
| title_short | Neural Network-Based Path Planning for Fixed-Wing UAVs with Constraints on Terminal Roll Angle |
| title_sort | neural network based path planning for fixed wing uavs with constraints on terminal roll angle |
| topic | fixed-wing UAV neural network path planning Pontryagin’s Maximum Principle parameterized system |
| url | https://www.mdpi.com/2504-446X/9/5/378 |
| work_keys_str_mv | AT qianxu neuralnetworkbasedpathplanningforfixedwinguavswithconstraintsonterminalrollangle AT fanchenwu neuralnetworkbasedpathplanningforfixedwinguavswithconstraintsonterminalrollangle AT zhengchen neuralnetworkbasedpathplanningforfixedwinguavswithconstraintsonterminalrollangle |