On-line trajectory planning using
adaptive temporal discretization
David A. Anisi
Optimization and Systems Theory, Royal Institute of
Technology, 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 NLP. The benefits of
utilizing such adaptive temporal discretization method for trajectory
optimization, are illustrated by a missile guidance example.