rejuvyesh / DirectTrajectoryOptimization.jl

A Julia package for constrained trajectory optimization using direct collocation.

DirectTrajectoryOptimization.jl

This package solves constrained trajectory optimization problems:

minimize        gT(xT; wT) + sum(gt(xt, ut; wt))
xt, ut
subject to      xt+1 = ft(xt, ut; wt) , t = 1,...,T-1 
                ct(xt, ut; wt) {>,=} 0, t = 1,...,T
                xt_L <= xt <= xt_U, t = 1,...,T 
                ut_L <= ut <= ut_U, t = 1,...,T-1.

Fast and allocation-free gradients and sparse Jacobians are automatically generated using Symbolics.jl for user-provided costs, constraints, and dynamics. The problem is solved with Ipopt.

Installation

Pkg.add("DirectTrajectoryOptimization")