OptimTraj -- Trajectory Optimization Library
version 1.6.0.0 (946 KB) by
Matthew Kelly
- 46 files
- 193 downloads
A toolbox for Matlab, for solving continuous time trajectory optimization problems
A trajectory optimization library for Matlab
Cite As
Matthew Kelly (2020). OptimTraj -- Trajectory Optimization Library (https://www.github.com/MatthewPeterKelly/OptimTraj), GitHub. Retrieved .
Comments and Ratings (10)
Updates
| 1.6.0.0 | Changed name from TrajOpt to OptimTraj to avoid naming conflict with the software by Pieter Abbeel. |
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| 1.5.0.0 | new name, more tags |
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| 1.4.0.0 | new photo |
MATLAB Release Compatibility
Created with
R2014a
Compatible with any release
Platform Compatibility
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demo/acrobot
demo/cartPole
demo/fiveLinkBiped
demo/fiveLinkBiped/costOfTransport
demo/goddardRocket
demo/gradientsTutorial
demo/minTimeBvp
demo/minimumSnap/chainIntegrator
demo/minimumSnap/minAccel
demo/minimumSnap/minJerk
demo/minimumSnap/minSnap
demo/minimumWork
demo/quadRotor2d
demo/quadRotor3d
demo/quadRotor3d/test
demo/quadRotor3d/utilities
demo/simplePendulum
demo/simpleWalker
demo/toyCar
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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:
https://www.youtube.com/watch?v=wlkRYMVUZTs&t=1341s
I have a few other references and tutorials here as well:
http://www.matthewpeterkelly.com/tutorials/trajectoryOptimization/index.html
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 (view profile)