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iLQG/DDP trajectory optimization

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Solve the deterministic finite-horizon optimal control problem with iLQG/DDP

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Solve the deterministic finite-horizon optimal control problem with the iLQG (iterative Linear Quadratic Gaussian) or modified DDP (Differential Dynamic Programming) algorithm. Includes two demos, a linear control-constrained problem and a car-parking problem. For details see
Tassa, Mansard and Todorov, 'Control-Limited Differential Dynamic Programming', ICRA 2014

Comments and Ratings (4)

Chen Yuying

lau

lau (view profile)

Wisdom Agboh

Updates

1.02

Better printing and diagnostics, added example of user callback.

1.01

Fixed bug in calculation of reduction ratio.

1.0

minor tweaks

MATLAB Release
MATLAB 7.12 (R2011a)
Acknowledgements

Inspired: Belief Space Motion Planning using iLQG

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