PATH-CONSTRAINED TRAJECTORY OPTIMIZATION USING SPARSE SEQUENTIAL QUADRATIC-PROGRAMMING

One of the most effective numerical techniques for the solution of trajectory optimization and optimal control problems is the direct transcription method. This approach combines a nonlinear programming algorithm with discretization of the trajectory dynamics. The resulting mathematical programming problem is characterized by matrices that are large and sparse. Constraints on the path of the trajectory are then treated as algebraic inequalities to be satisfied by the nonlinear program. This paper describes a nonlinear programming algorithm that exploits the matrix sparsity produced by the transcription formulation. Numerical experience is reported for trajectories with both state and control variable equality and inequality path constraints.