In this paper we designed an optimal trajectory generation (OTG) method to generate easy and errorless continuous path motion with quick converging using Grey Wolf Optimization (GWO) method. The proposed OTG method finds the trajectory path with minimum tracking error, combined speed, joint increasing speed wrinkle, as well as joint lurching move to follow an error-free smooth continuous path.

This paper introduces a solution to the problem of steering an aerodynamical system, with non-holonomic constraints superimposed on dynamic equations of motion. The proposed approach is a dimensionality reduction of the Optimal Control Problem (OCP) with heavy path constraints to be solved by Rapidly-Exploring Random Tree (RRT) algorithm. In this research, we formulated and solved the OCP with Euler–Lagrange formula in order to find the optimal-time trajectory. The RRT constructs a non-collision path in static, high-dense obstacle environment (i.e. heavy path constraint). Based on a real-world aircraft model, our simulation results found the collision-free path and gave improvements of time and fuel consumption of the optimized Hamiltonian-based model over the original non-optimized model.