Particle swarm optimization (PSO) is a population-based stochastic optimization technique in a smooth search space. However, in a category of trajectory optimization problem with arbitrary final time and multiple control variables, the smoothness of variables cannot be satisfied since the linear interpolation is widely used. In the paper, a novel Legendre cooperative PSO (LCPSO) is proposed by introducing Legendre orthogonal polynomials instead of the linear interpolation. An additional control variable is introduced to transcribe the original ...
