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Enhancements to the DIDO Optimal Control Toolbox

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arxiv 2004.13112 v2 pith:DB3GHFB4 submitted 2020-04-27 math.OC cs.MScs.RO

I. M. Ross This is my paper · ORCID
classification math.OCcs.MScs.RO
keywords didoalgorithmscontrolenhancementsnonlinearoptimalproblemsprogramming
verification ladder T0 review T1 audit T2 compute T3 formal
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abstract

In 2020, DIDO$^\copyright$ turned 20! The software package emerged in 2001 as a basic, user-friendly MATLAB$^\circledR$ teaching-tool to illustrate the various nuances of Pontryagin's Principle but quickly rose to prominence in 2007 after NASA announced it had executed a globally optimal maneuver using DIDO. Since then, the toolbox has grown in applications well beyond its aerospace roots: from solving problems in quantum control to ushering rapid, nonlinear sensitivity-analysis in designing high-performance automobiles. Most recently, it has been used to solve continuous-time traveling-salesman problems. Over the last two decades, DIDO's algorithms have evolved from their simple use of generic nonlinear programming solvers to a multifaceted engagement of fast spectral Hamiltonian programming techniques. A description of the internal enhancements to DIDO that define its mathematics and algorithms are described in this paper. A challenge example problem from robotics is included to showcase how the latest version of DIDO is capable of escaping the trappings of a ``local minimum'' that ensnare many other trajectory optimization methods.

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