Adaptive Mesh Iteration Method for Trajectory Optimization Based on Hermite-Pseudospectral Direct Transcription

Table 2

Compare results using VOIand FOI methods.

Case	Methods			Mean times/s			Cost function
1	AMRM	(2, 11)	65	6.3	214	4	−4165.3
2	FMRM	5	50	19.6	201	8	−4050.2
3	FMRM	5	60	33.8	241	7	−4103.7
4	FMRM	5	65	41.3	261	6	−4128.5
5	FMRM	7	40	25.2	241	7	−4085.2
6	FMRM	7	45	38.1	271	6	−4114.6
7	FMRM	7	55	47.8	331	5	−4163.4
8	FMRM	9	25	23.0	201	8	−4016.1
9	FMRM	9	30	36.4	241	7	−4073.9
10	FMRM	9	35	49.7	281	5	−4122.8