{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,20]],"date-time":"2026-07-20T16:50:54Z","timestamp":1784566254920,"version":"3.55.0"},"reference-count":30,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2024,7,8]],"date-time":"2024-07-08T00:00:00Z","timestamp":1720396800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Algorithms"],"abstract":"<jats:p>In this paper, an algorithm is proposed to solve the non-convex optimization problem using sequential convex programming. An approximation method was used to solve the collision avoidance constraint. An iterative approach was utilized to estimate the non-convex constraints, replacing them with their linear approximations. Through the simulation, we can see that this method allows for quadcopters to take off from a given initial position and fly to the desired final position within a specified flight time. It is guaranteed that the quadcopters will not collide with each other in different scenarios.<\/jats:p>","DOI":"10.3390\/a17070304","type":"journal-article","created":{"date-parts":[[2024,7,8]],"date-time":"2024-07-08T12:21:03Z","timestamp":1720441263000},"page":"304","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Sequential Convex Programming for Nonlinear Optimal Control in UAV Trajectory Planning"],"prefix":"10.3390","volume":"17","author":[{"given":"Yong","family":"Li","sequence":"first","affiliation":[{"name":"College of Intelligent Systems, Science and Engineering, Harbin Engineering University, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qidan","family":"Zhu","sequence":"additional","affiliation":[{"name":"College of Intelligent Systems, Science and Engineering, Harbin Engineering University, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ahsan","family":"Elahi","sequence":"additional","affiliation":[{"name":"College of Intelligent Systems, Science and Engineering, Harbin Engineering University, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,7,8]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Weiss, S., Achtelik, M., Chli, M., and Siegwart, R. 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