Optimizing Trajectories with Closed-Loop Dynamic SQP
Sumeet Singh,Jean-Jacques Slotine,Vikas Sindhwani,Sumeet Singh,Jean-Jacques Slotine,Vikas Sindhwani
Indirect trajectory optimization methods such as Differential Dynamic Programming (DDP) have found considerable success when only planning under dynamic feasibility constraints. Meanwhile, nonlinear programming (NLP) has been the state-of-the-art approach when faced with additional constraints (e.g., control bounds, obstacle avoidance). However, a naïve implementation of NLP algorithms, e.g., shoo...
