A Direct PRSQP Method for Path Planning of Satellite Mounted Robots

摘要

The use of satellite mounted robots in aerospace engineering requires the solution of intricate path planning problems, which can be treated as optimal control problems. Using the boundary value problem approach the discretization of these problems leads to large nonlinear optimization problems with equality and inequality constraints. A partially reduced SQP method for this problem class is presented based on a collocation discretization of the boundary value problem. Numerical results of optimal paths for satellite mounted robots are shown.