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Community, For mobile robot-trajectory planning i use dynamic optimization for a system with nonholonomic constraints and dynamics together with a cost function. This works somewhat well, howewer the solution is heavily biased by my initial solution, because the search space is non-convex, so my planner converges into the local minima.

I would like to generate an initial solution for my planner, that is close enough to the optimal solution (optimal w.r.t to the cost function), so my optimization problem converges into the global minimum. I thought of using sampling based or graph based algorithms e.g RRT etc. to find an initial guess in short time. Do you know any algorithms that are capable of finding a good-enough initial guess in almost realtime?

Greetings, 1lc

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