Receding Horizon Trajectory Optimization with Terminal Impact Specifications

Abstract EN

The trajectory optimization problem subject to terminal impact time and angle specifications can be reformulated as a nonlinear programming problem using the Gauss pseudospectral method.

The cost function of the trajectory optimization problem is modified to reduce the terminal control energy.

A receding horizon optimization strategy is implemented to reject the errors caused by the motion of a surface target.

Several simulations were performed to validate the proposed method via the C programming language.

The simulation results demonstrate the effectiveness of the proposed algorithm and that the real-time requirement can be easily achieved if the C programming language is used to realize it.