Differential dynamic programming (DDP) is a well-recognized method for trajectory optimization due to its fast convergence characteristics. However, the original DDP requires a predefined final time and cannot handle nonlinear constraints in optimization. This prohibits the application of DDP for autonomous vehicles due to the heuristic nature of setting a final time beforehand and the existence of inherent physical limits. This article revisits DDP by dynamically optimizing the final time via the first-order optimality condition of the value function and using augmented Lagrangian method to tackle the issue of nonlinear constraints. The resultant algorithm is termed as flexible final time constrained differential dynamic programming (FFT-CDDP). Extensive numerical simulations for a three-dimensional guidance problem are used to demonstrate the working of FFT-CDDP. The results indicate that the proposed FFT-CDDP provides much higher computational efficiency and stronger robustness against the initial solution guess, compared with the off-the-shelf general purpose optimal control software (GPOPS) algorithm.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Constrained Trajectory Optimization With Flexible Final Time for Autonomous Vehicles


    Contributors:
    Zheng, Xiaobo (author) / He, Shaoming (author) / Lin, Defu (author)


    Publication date :

    2022-06-01


    Size :

    1342290 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Vehicle trajectory optimization for autonomous vehicles

    MEULEAU NICOLAS | European Patent Office | 2016

    Free access

    On-Line Trajectory Optimization for Autonomous Air Vehicles

    Twigg, Shannon / Calise, Anthony / Johnson, Eric | AIAA | 2003


    On-Line Trajectory Optimization for Autonomous Air Vehicles

    J. E. Corban / S. Twigg / T. Ries et al. | NTIS | 2007


    On-Line Trajectory Optimization for Autonomous Air Vehicles

    J. E. Corban / E. N. Johnson / A. J. Calise et al. | NTIS | 2003