Multitask trajectory planning based on Predictive Control

In this work, a Predictive Control formulation for trajectory planning with multiple target sets is proposed, which solves the problem of performing all tasks in finite time via minimization of a weighted-time-fuel cost function, generating a feasible trajectory. An approach involving a procedure to order the list of the target sets to be visited in terms of the distance between them is used for comparison and it is shown that the proposed technique outperforms this approach in terms of time and fuel spent to accomplish the mission.