A Machine Learning Enhanced Algorithm for the Optimal Landing Problem

Abstract: We propose a machine learning enhanced algorithm for solving the optimal landing problem. Using Pontryagin's minimum principle, we derive a two-point boundary value problem for the landing problem. The proposed algorithm uses deep learning to predict the optimal landing time and a space-marching technique to provide good initial guesses for the boundary value problem solver. The performance of the proposed method is studied using the quadrotor example, a reasonably high dimensional and strongly nonlinear system. Drastic improvement in reliability and efficiency is observed.