https://github.com/thowell/directtrajectoryoptimization.jl

A Julia package for constrained trajectory optimization using direct methods.
https://github.com/thowell/directtrajectoryoptimization.jl

collocation optimal-control optimization robotics trajectory-optimization

Last synced: about 4 hours ago
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A Julia package for constrained trajectory optimization using direct methods.

• Host: GitHub
• URL: https://github.com/thowell/directtrajectoryoptimization.jl
• Owner: thowell
• License: mit
• Created: 2021-09-22T19:23:38.000Z (about 3 years ago)
• Default Branch: main
• Last Pushed: 2022-06-12T15:18:53.000Z (over 2 years ago)
• Last Synced: 2024-08-09T05:56:47.189Z (3 months ago)
• Topics: collocation, optimal-control, optimization, robotics, trajectory-optimization
• Language: Julia
• Homepage:
• Size: 147 KB
• Stars: 28
• Watchers: 4
• Forks: 4
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# DirectTrajectoryOptimization.jl

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A Julia package for solving constrained trajectory optimization problems: 

```

minimize        cost_T(state_T; parameter_T) + sum(cost_t(state_t, action_t; parameter_t))

states, actions

subject to      dynamics_t(state_t, action_t, state_t+1; parameter_t),         t = 1,...,T-1 

                constraint_t(state_t, action_t; parameter_t) {<,=} 0,          t = 1,...,T

                state_lower_t < state_t < state_upper_t,                       t = 1,...,T 

                action_lower_t < action_t < action_upper_t,                    t = 1,...,T-1.

```

with direct trajectory optimization. 

Fast and allocation-free gradients and sparse Jacobians are automatically generated using [Symbolics.jl](https://github.com/JuliaSymbolics/Symbolics.jl) for user-provided costs, constraints, and dynamics. The problem is solved with [Ipopt](https://coin-or.github.io/Ipopt/).

## Installation

```

Pkg.add("DirectTrajectoryOptimization")

```

## Quick Start