Optimal velocity planning based on the solution of the Euler-Lagrange equations with a neural network based velocity regression

Trajectory optimization is a complex process that includes an infinite number of possibilities and combinations. This work focuses on particular aspect the trajectory optimization, related to velocity along predefined path, with aim minimizing power consumption. To tackle problem, functional formulation minimization strategy developed, by means Euler-Lagrange equation. The later performed using neural network approach. deemed Lagrange-Net, as it based energy functional, Lagrange's equation approximations.