Tag: function optimization
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Tutorial: Direct Collocation Trajectory Optimization with Matlab
In the previous tutorial, we focused on single shooting trajectory optimization, which involved time-discretizing the control input and simply integrating the dynamics. The desired end state was then added as a constraint to fmincon. Here, we focus on a different trajectory optimization technique, known as direct collocation. Simultaneous Optimization The core difference between shooting methods…
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Tutorial: Single Shooting Trajectory Optimization with Matlab
Numerical methods for trajectory optimization have become increasingly popular for analyzing the motion of bipedal spring-mass walkers, whose complex nonlinear dynamics make analytical solutions often infeasible. When I began looking into trajectory optimization, the number of different methods often obscured some of the basic ideas in the field. This tutorial is meant to provide a simple introduction to trajectory optimization with some example…