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## OptimTraj -- Trajectory Optimization Library

version 1.6.0.0 (946 KB) by Matthew Kelly

### Matthew Kelly (view profile)

A toolbox for Matlab, for solving continuous time trajectory optimization problems

Updated 04 May 2018

A trajectory optimization library for Matlab

### Cite As

Matthew Kelly (2019). OptimTraj -- Trajectory Optimization Library (https://www.github.com/MatthewPeterKelly/OptimTraj), GitHub. Retrieved .

Amitava Biswas

David Torres

Dennis Erdogan

Mohit Patil

### Mohit Patil (view profile)

Fidel Echevarria Corrales

Marko

Matthew Kelly

### Matthew Kelly (view profile)

Hi Amritan, I used a wide range of resources when writing this tutorial.

The best book that I've found for learning about trajectory optimization and related fields is "Practical Methods for Optimal Control and Estimation Using Nonlinear Programming" by John T. Betts. The first four chapters are particularly useful. Another really interesting book was "Approximation Theory and Approximation Practice" by Lloyd Trefethen. I comes along with a really good toolbox for Matlab. The book is about using polynomials to approximation functions. This seems esoteric, but it turns out to be hugely useful: nearly all numerical methods (trajectory optimization included) reduces to a problem of approximating a function using a polynomial.

You might also take a look at my video tutorial on this topic, which includes links to the slides and all references that I use:

I have a few other references and tutorials here as well:
http://www.matthewpeterkelly.com/tutorials/trajectoryOptimization/index.html

AMRITAM DAS

### AMRITAM DAS (view profile)

Hey, do you know any good material to follow for understand trajectory optimization on which u wrote this toolbox?

Matthew Sheen

### Matthew Sheen (view profile)

 23 May 2016 1.6.0.0 Changed name from TrajOpt to OptimTraj to avoid naming conflict with the software by Pieter Abbeel. 12 Dec 2015 1.5.0.0 new name, more tags 12 Dec 2015 1.4.0.0 new photo
##### MATLAB Release Compatibility
Created with R2014a
Compatible with any release
##### Platform Compatibility
Windows macOS Linux