Rapid trajectory optimization using an improved pseudpspectral method

Combined the standard pseudospectral (PS) method with mesh refinement method, an adaptive PS method is presented for rapidly solving trajectory optimization problems. Regard the violations in the discredited deferential-algebraic equations (dynamic constraints and path constraints) at midpoints of the collocation points in each segment as the criterion. Mesh refinement is achieved by using trajectory curvature-based density function to redistribute the mesh points. The algorithm iterates until the accuracy criterion is satisfied to a user-specified tolerance. Simulations indicate that the proposed adaptive PS method is more efficient than the standard PS method.