Unscented Trajectory Optimization

Abstract

In a nutshell, unscented trajectory optimization is the generation of optimal trajectories through the use of an unscented transform. Although unscented trajectory optimization was introduced by the authors about a decade ago, it is reintroduced in this paper as a special instantiation of tychastic optimal control theory. Tychastic optimal control theory (from Tyche, the Greek goddess of chance) avoids the use of a Brownian motion and the resulting Itô calculus even though it uses random variables across the entire spectrum of a problem formulation. This approach circumvents the enormous technical and numerical challenges associated with stochastic trajectory optimization. Furthermore, it is shown how a tychastic optimal control problem that involves nonlinear transformations of the expectation operator can be quickly instantiated using the unscented transform. These nonlinear transformations are particularly useful in managing trajectory dispersions, be they associated with path constraints or targeted values of final-time conditions. This paper also presents a systematic and rapid process for formulating and computing the most desirable tychastic trajectory using the unscented transform. Numerical examples are used to illustrate how unscented trajectory optimization may be used for risk reduction and mission recovery caused by uncertainties and failures.