A wavelet collocation scheme for solving some optimal path planning problems

Marziyeh Mortezaee, Alireza Nazemi


We consider an approximation scheme using Haar wavelets for solving optimal path planning problems. The problem is first expressed as an optimal control problem. A computational method based on Haar wavelets in the time domain is then proposed for solving the obtained optimal control problem. A Haar wavelets integral operational matrix and a direct collocation method are used to find an approximate optimal trajectory of the original problem. Numerical results are also presented for several examples to demonstrate the applicability and efficiency of the proposed method.



optimal path planning problems; approximation; rationalized Haar functions; nonlinear programming

DOI: http://dx.doi.org/10.21914/anziamj.v57i0.9122

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ANZIAM Journal, ISSN 1446-8735, copyright Australian Mathematical Society.