Trajectory Splitting: A Distributed Formulation for Collision Avoiding Trajectory Optimization
Changhao Wang,Jeffrey Bingham,Masayoshi Tomizuka,Changhao Wang,Jeffrey Bingham,Masayoshi Tomizuka
Efficient trajectory optimization is essential for avoiding collisions in unstructured environments, but it remains challenging to have both speed and quality in the solutions. One reason is that second-order optimality requires calculating Hessian matrices that can grow with O(N2) with the number of waypoints. Decreasing the waypoints can quadratically decrease computation time. Unfortunately, fe...
