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Cited by 561

The DOI matches its Crossref record; 27 of the 27 references it cites were found in a registry or an index.

An Introduction to Trajectory Optimization: How to Do Your Own Direct Collocation

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Kelly, Matthew·2017·SIAM Review
DOI 10.1137/16m1062569
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Abstract

Abstract. This paper is an introductory tutorial for numerical trajectory optimization with a focus on direct collocation methods. These methods are relatively simple to understand and effectively solve a wide variety of trajectory optimization problems. Throughout the paper we illustrate each new set of concepts by working through a sequence of four example problems. We start by using trapezoidal collocation to solve a simple one-dimensional toy problem and work up to using Hermite–Simpson collocation to compute the optimal gait for a bipedal walking robot. Along the way, we cover basic debugging strategies and guidelines for posing well-behaved optimization problems. The paper concludes with a short overview of other methods for trajectory optimization. We also provide an electronic supplement that contains well-documented MATLAB code for all examples and methods presented. Our primary goal is to provide the reader with the resources necessary to understand and successfully implement their own direct collocation methods. (An erratum is attached.)

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Cites

Show all 27 references

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Metadata

Authors
Kelly, M.
Venue
SIAM Review
Publisher
Society for Industrial & Applied Mathematics (SIAM)
Published
2017-01-01
Volume
59
Issue
4
Pages
849-904
ISSN
  • 0036-1445 (ISSN-L)
  • 1095-7200
DOI
10.1137/16m1062569
OpenAlex
W2767578104
Cited by
561
References
27
FWCI
20.66
Type
journal article
Language
en
Open access
bronze
Funders
National Science Foundation

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Kelly, M. (2017). An Introduction to Trajectory Optimization: How to Do Your Own Direct Collocation. SIAM Review. https://doi.org/10.1137/16m1062569

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