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OptimTraj -- Trajectory Optimization Library

version 1.6.0.0 (905 KB) by Matthew Kelly
A toolbox for Matlab, for solving continuous time trajectory optimization problems

33 Downloads

Updated 11 Jan 2021

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A trajectory optimization library for Matlab

Cite As

Matthew Kelly (2021). OptimTraj -- Trajectory Optimization Library (https://github.com/MatthewPeterKelly/OptimTraj), GitHub. Retrieved .

Comments and Ratings (11)

Jaskaran Singh Grover

Is there a way to specify partial dynamics that are projected on a lower dimensional space. For example, instead of xdot = f(t,x,u), we specify E*xdot = f(t,x,u) where E is a matrix of size (m,n) where m<n. Normally, E is eye(n,n) but if we know dynamics only for some part of the state, then E might be needed. Any thoughts?

Amitava Biswas

David Torres

Dennis Erdogan

adajaga

Mohit Patil

Marko

Matthew Kelly

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

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

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