A rapid trajectory optimization method is proposed for a Mars rover, which conducts long-range transfer on the surface of Mars in a manner of vertical take-off and vertical landing (VTVL). A non-convex and nonlinear VTVL trajectory planning problem with constraints is modeled first. Then the lossless convexification techniques are used to obtain the sequential convex optimization version of the original problem. Meanwhile, the Chebyshev pseudospectral method is employed to discrete the continuously dynamic programming problem into a finite-dimensional second-order-conic-programming (SOCP) problem, which can be rapidly solved. The numerical results demonstrate that, the proposed method in this paper is rapid and efficient for solving the problem of VTVL trajectory planning, and the computational time cost is dramatically reduced than that of classical convex optimization method and nonlinear pseudospectral method.
VTVL Trajectory Plannings via Convex Optimization and Pseudospectral Method for Mars Rover
Lect. Notes Electrical Eng.
2021-10-30
14 pages
Article/Chapter (Book)
Electronic Resource
English
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