Kwak D.J., Choi B., Kim H.J. (2013) Trajectory Optimization Using Virtual Motion Camouflage and Particle Swarm Optimization. In: Lee J., Lee M.C., Liu H., Ryu JH. (eds) Intelligent Robotics and Applications. ICIRA 2013. Lecture Notes in Computer Science, vol 8102. Springer, Berlin, Heidelberg
This paper investigates a new numerical method to solve a nonlinear constrained trajectory optimization problem. Especially, we consider a problem constrained on the terminal angle and time. The proposed algorithm is based on the virtual motion camouflage (VMC) and particle swarm optimization (PSO) and is called VMCPSO. VMC changes the typical full space optimal problem to the subspace optimal problem, so it can reduce the dimension of the original problem by using path control parameters (PCPs). If the PCPs are optimized, then the optimal path can be obtained. Therefore, we employ PSO to optimize these PCPs. The optimization results show that the optimal path considering the terminal angle and time is effectively generated using VMCPSO.