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OptimTraj -- Trajectory Optimization Library

version 1.6.0.0 (946 KB) by Matthew Kelly
A toolbox for Matlab, for solving continuous time trajectory optimization problems

40 Downloads

Updated 04 May 2018

GitHub view license on GitHub

A trajectory optimization library for Matlab

Comments and Ratings (10)

adajaga

Mohit Patil

Marko

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

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

Matthew Sheen

Updates

1.6.0.0

Changed name from TrajOpt to OptimTraj to avoid naming conflict with the software by Pieter Abbeel.

1.5.0.0

new name, more tags

1.4.0.0

new photo

MATLAB Release Compatibility
Created with R2014a
Compatible with any release
Platform Compatibility
Windows macOS Linux

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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/simplePendulum

demo/simpleWalker

demo/toyCar