In this paper. an algorithm is proposed to solve the non-convex optimization problem using sequential convex programming. An approximation method was used to solve the collision avoidance constraint. An iterative approach was utilized to estimate the non-convex constraints. https://safeersappliancers.shop/product-category/smeg-c92dx9-90-cm-dual-fuel-range-cooker-stainless-steel-lpg-convertible/