Parameter Optimization in Trajectory Planning via Differentiable Convex Programming

Ziqi Xu; Lin Cheng; Di Wu; Shengping Gong

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arXiv · 2512.03557

Parameter Optimization in Trajectory Planning via Differentiable Convex Programming

Ziqi Xu·Lin Cheng·Di Wu·Shengping Gong

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Abstract

Sequential convex programming has been established as an effective framework for solving nonconvex trajectory planning problems. However, its performance is highly sensitive to problem parameters, including trajectory variables, algorithmic hyperparameters, and physical vehicle parameters. This paper introduces a differentiable sequential convex programming framework that integrates differentiable convex optimization with sequential convex programming to enable end-to-end parameter optimization. By deriving first-order sensitivity relations of second-order cone programming solutions with respect to problem data, exact gradients of trajectory performance metrics with respect to arbitrary parameters are obtained and propagated through iterations. The effectiveness of the proposed framework is validated through three representative applications: optimal terminal-time prediction for powered landing, trust-region penalty optimization in subproblems, and surface-to-mass ratio optimization for hypersonic gliding vehicles. Simulation results show that the proposed framework enables reliable gradient-based parameter learning and significantly improves numerical performance, convergence behavior, and design efficiency. These results indicate that the differentiable sequential convex programming framework provides a powerful and general tool for vehicle design, mission optimization, and hyperparameter selection in aerospace trajectory planning.

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BibTeX RIS

Ziqi Xu, Lin Cheng, Di Wu, Shengping Gong. 2025-12-03. Parameter Optimization in Trajectory Planning via Differentiable Convex Programming. https://arxiv.org/abs/2512.03557

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