Trajectory optimization with obstacles avoidance via strong duality equivalent and hp‐pseudospectral sequential convex programming

DOI10.1002/oca.2839MaRDI QIDQ6053711

Chuan Gao, Unnamed Author, Weihong Wang

Publication date: 23 October 2023

Published in: Optimal Control Applications and Methods (Search for Journal in Brave)

zbMATH Keywords

trajectory optimizationsequential convex programmingstrong dualityobstacle avoidancehp-pseudospectral method

Mathematics Subject Classification ID

Convex programming (90C25) Automated systems (robots, etc.) in control theory (93C85) Existence theories for optimal control problems involving ordinary differential equations (49J15)

Related Items (1)

An improved adaptive hp mesh refinement method in solving optimal control problems

Cites Work

• Lossless convexification of non-convex optimal control problems for state constrained linear systems
• A unified framework for the numerical solution of optimal control problems using pseudospectral methods
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• Path planning and collision avoidance for robots
• Graph Implementations for Nonsmooth Convex Programs
• Lossless convexification of nonconvex MINLP on the UAV path-planning problem
• Aphmesh refinement method for optimal control
• Survey of Numerical Methods for Trajectory Optimization
• Barycentric Lagrange Interpolation
• An hp‐adaptive pseudospectral method for solving optimal control problems
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