Adaptive node distribution for on-line trajectory planning*

David A. Anisi

Optimization and Systems Theory, Royal Institute of Technology (KTH), Stockholm, Sweden

ABSTRACT: 

Direct methods for trajectory optimization are traditionally based on a priori temporal discretization and collocation methods. In this work, the problem of node distribution is formulated as an optimization problem, which is to be included in the underlying non-linear mathematical programming problem (NLP). The benefits of utilizing the suggested method for  on-line  trajectory optimization are illustrated by a missile guidance example.

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*Awarded the ICAS 2006 McCarthy Award for the second best student paper presentation.