关键词: 轨迹优化, 多分辨率, 网格细化, 广义二分网格

Abstract:

 An improved multiresolution-based approach is proposed to refine the mesh points in all the nonsmooth regions along the trajectory and avoid the omissions or failures of the mesh refinement that have been encountered for the existing multiresolution techniques. The method is designed by adding the mesh points from two higher resolution levels in each refinement iteration and introducing a mesh point checking algorithm. A generalized dyadic mesh is proposed so that the modified multiresolution technique can start with any uniform initial mesh with an odd number of the mesh points, thus overcoming the dyadic restrictions of the original multiresolution techniques. The effectiveness of the method is demonstrated on several examples and its performance is compared against other mesh refinement methods. In addition, the numerical results show that a fully refined mesh has little impact on the objective but it ensures that the path or terminal constraints are more accurately satisfied.

Key words: Trajectory optimization, Multiresolution, Mesh refinement, Generalized dyadic mesh