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arXiv · 2312.05724

Minimum-Time Trajectory Optimization With Data-Based Models: A Linear Programming Approach

Nan Li·Ehsan Taheri·Ilya Kolmanovsky·Dimitar Filev
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Abstract

In this paper, we develop a computationally-efficient approach to minimum-time trajectory optimization using input-output data-based models, to produce an end-to-end data-to-control solution to time-optimal planning/control of dynamic systems and hence facilitate their autonomous operation. The approach integrates a non-parametric data-based model for trajectory prediction and a continuous optimization formulation based on an exponential weighting scheme for minimum-time trajectory planning. The optimization problem in its final form is a linear program and is easy to solve. We validate the approach and illustrate its application with a spacecraft relative motion planning problem.

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BibTeXRIS

Nan Li, Ehsan Taheri, Ilya Kolmanovsky, Dimitar Filev. 2023-12-10. Minimum-Time Trajectory Optimization With Data-Based Models: A Linear Programming Approach. https://arxiv.org/abs/2312.05724

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