A Novel Trajectory Optimization for Affine Systems: Beyond Convex-Concave Procedure
Fatemeh Rastgar,Arun Kumar Singh,Houman Masnavi,Karl Kruusamae,Alvo Aabloo,Fatemeh Rastgar,Arun Kumar Singh,Houman Masnavi,Karl Kruusamae,Alvo Aabloo
Trajectory optimization problems under affine motion model and convex cost function are often solved through the convex-concave procedure (CCP), wherein the non-convex collision avoidance constraints are replaced with its affine approximation. Although mathematically rigorous, CCP has some critical limitations. First, it requires a collision-free initial guess of solution trajectory which is diffi...
