  In this work, we present composite Bernstein polynomials as a direct
collocation method for approximating optimal control problems. An analysis of
the convergence properties of composite Bernstein polynomials is provided, and
beneficial properties of composite Bernstein polynomials for the solution of
optimal control problems are discussed. The efficacy of the proposed
approximation method is demonstrated through a bang-bang example. Lastly, we
apply this method to a motion planning problem, offering a practical solution
that emphasizes the ability of this method to solve complex optimal control
problems.
