An Indirect Method of Generating an Optimal Trajectory Through Multiple Waypoints under Practical Constraints

초록

This paper presents an indirect numerical method that finds an optimal trajectory under waypoint constraints. The capability of the method is further expanded to include other practical constraints such as region to avoid or pass through. The method is tested for a model with a nonlinear equations of motion under individual or combinations of the constraints. Input limit is also considered in the process of finding optimal solution. To use the well established quadratic optimal solution algorithm, a soft limit is devised. The method of handling the input limit and waypoint constraint is applied to find an optimal trajectory of a bank-to-turn missile successfully.