This paper presents a new approach to trajectory optimization for nonlinear systems. The method exploits homotopy between a linear system and a nonlinear system and neighboring extremal optimal control, in combination with few iterations of a convergent optimizer at each step, to iteratively update the trajectory as the homotopy parameter changes. To illustrate the proposed method, a numerical example of a three-dimensional orbit transfer problem for a spacecraft is presented. Copyright (C) 2016 John Wiley & Sons, Ltd.
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