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.