On SDRE method using by coordinate transformation for an obstacle avoidance problem

As is well known, the state dependence Riccati equation (SDRE) method may compute a controller for a nonlinear optimal regulator problem. We have shown a modified SDRE method and the effectiveness for a simple obstacle avoidance problem. The modified method is similar to the conventional SDRE method after applying coordinate transformation. This paper studies the relationship between the modified SDRE method and the conventional SDRE method after applying coordinate transformation.