Deferring Decision in Multi-target Trajectory Optimization
Purnanand Elango, Selahattin Burak Sarsılmaz, Behcet A. Acikmese · AIAA SCITECH 2022 Forum · 2022
View Video Presentation: https://doi.org/10.2514/6.2022-1583.vid This paper introduces a novel trajectory optimization framework referred to as deferred-decision trajectory optimization (DDTO) for handling uncertainties in the operational environment without explicitly modeling them. DDTO maximizes the duration of time for which a vehicle is able to reach multiple targets while satisfying physical constraints and ensuring an acceptable level of suboptimality with respect to metrics like fuel consumption and control effort. As a result, in the event of a contingency, the vehicle can escape to a safe location or divert to an alternate target to complete the mission with partial success. A practical solution approach for DDTO, which is grounded on results from convex optimization, is demonstrated on a double-integrator path planning example.