Trajectory optimization for real-time guidance. I - Time-varying LQR on a parallel processorA key algorithmic element of a real-time trajectory optimization hardware/software implementation, the quadratic program (QP) solver element, is presented. The purpose of the effort is to make nonlinear trajectory optimization fast enough to provide real-time commands during guidance of a vehicle such as an aeromaneuvering orbiter. Many methods of nonlinear programming require the solution of a QP at each iteration. In the trajectory optimization case the QP has a special dynamic programming structure, a LQR-like structure. QP algorithm speed is increased by taking advantage of this special structure and by parallel implementation.
Document ID
19910045425
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Psiaki, Mark L. (Cornell University Ithaca, NY, United States)
Park, Kihong (Cornell Univ. Ithaca, NY, United States)