Bi-Convex Approximation of Non-Holonomic Trajectory Optimization
Arun Kumar Singh,Raghu Ram Theerthala,Mithun Babu,Unni Krishnan R Nair,K. Madhava Krishna,Arun Kumar Singh,Raghu Ram Theerthala,Mithun Babu,Unni Krishnan R Nair,K. Madhava Krishna
Autonomous cars and fixed-wing aerial vehicles have the so-called non-holonomic kinematics which non-linearly maps control input to states. As a result, trajectory optimization with such a motion model becomes highly non-linear and non-convex. In this paper, we improve the computational tractability of non-holonomic trajectory optimization by reformulating it in terms of a set of bi-convex cost an...
