Energy-Efficient Trajectory Planning for a Mobile Agent by Using a Two-Stage Decomposition Approach

This paper presents a new approach for the energy-efficient trajectory planning of a mobile agent with obstacle avoidance. The motion of the mobile agent is subject to position constraints characterizing an obstacle (keep-out region) as well as velocity, acceleration, and control constraints. The original optimal control problem is transformed into a mathematical programming problem where the obstacle is described by a set of linear constraints and switching times, which specify the sequence of active constraints corresponding to the obstacle. A two-stages decomposition method is proposed to solve the optimal control inputs and switch times and is verified through simulations. The proposed approach can be applied to solve general obstacle avoidance trajectory planning problems.