Trajectory Optimization with Complex Obstacle Avoidance Constraints via Homotopy Network Sequential Convex Programming

Abstract

Space vehicles’ real-time trajectory optimization is the key to future automatic guidance. Still, the current sequential convex programming (SCP) method suffers from a low convergence rate and poor real-time performance when dealing with complex obstacle avoidance constraints (OACs). Given the above challenges, this work combines homotopy and neural network techniques with SCP to propose an innovative algorithm. Firstly, a neural network was used to fit the minimum signed distance field at obstacles’ different “growth” states to represent the OACs. Then, the network was embedded with the SCP framework, thus smoothly transforming the OACs from simple to complex. Numerical simulations showed that the proposed algorithm can efficiently deal with trajectory optimization under complex OACs such as a “maze”, and the algorithm has a high convergence rate and flexible extensibility.

Keywords

• real-time trajectory planning
• sequential convex programming
• homotopy technique
• deep neural network