Alpine Skiing Trajectory Optimization Based on Radau Pseudospectral Method

【摘要】：In this paper, the trajectory optimization of alpine skiing is studied based on Radau pseudospectral method(RPM). First, the kinetic model of alpine skiing is established by Newton's second law, then the boundary constraints are considered, and the trajectory optimization of alpine skiing is converted into the optimal control problem which takes the minimum time consumption as the cost function. Finally, the optimal control problem is transcribed to a nonlinear programming problem(NLP) by RPM, and the optimal solution is obtained. Simulation results show that RPM can effectively generate a continuous optimal path meet the requirement of accuracy.