The invention discloses an unmanned aerial vehicle
flight time optimal real-
time trajectory optimization method capable of ensuring convergence, and belongs to the field of
trajectory optimization. According to the method, an unmanned aerial vehicle
kinematics model is established under the consideration of gravity action, speed and acceleration factors, and a three-dimensional dimensionless motion equation is established. Constraint conditions of speed and control quantity are established according to specific requirements of
obstacle avoidance flight of the unmanned aerial vehicle, and the
minimum time is selected as an optimization target to establish an
optimal control problem P0 of flight path planning of the unmanned aerial vehicle. Nonlinear dynamics in the problem P0 is transformedinto linear dynamics to obtain a fixed initial and end
time trajectory optimization problem P1; and the P1 problem is relaxed into an approximate convex
optimization problem P2 through convex relaxation, so that the robustness and robustness of real-time solving of the unmanned aerial vehicle are improved. And the problem P2 is discretized to form a second-order
cone programming problem P3, and asecond-order
cone programming problem P3 is solved iteratively for finite times to obtain an optimal solution, namely the optimal
flight time trajectory of the unmanned aerial vehicle. The task response capability of the unmanned aerial vehicle can be further improved.