Convex Optimization for Trajectory Generation: A Tutorial on Generating Dynamically Feasible Trajectories Reliably and Efficiently

Overview

The paper provides a comprehensive tutorial of three major convex optimization-based trajectory generation methods:

• Lossless Convexification LCvx
• Successive Convexification SCvx
• Guaranteed Sequential Trajectory Optimization GuSTO

These methods have been quite successful in guidance applications for aerospace systems like rockets, planetary landers, proximity and docking operations, as well as robotics in general.

The paper provides a practical, engineering-oriented, discussion of the algorithms and provides open-source implementations.

The methods are summarized in separate notes as it is a lengthy tutorial.