This is an assignment for NUS Module CS6244, 2017 Fall. It is to replicate the algorithm of a conference paper. The Differential Dynamic Programming (DDP) is used to plan the motion for the autonomous unman vehicle. The non-linear plant system in my code is slightly different from the one in the paper. I use a 6th order system to consider both the kinematics and dynamics of the vehicle while the paper uses only a 4th order one for the kinematics.
qingweilau / ddp-on-trajectory-optimization Goto Github PK
View Code? Open in Web Editor NEWThis project forked from marugreen/ddp-on-trajectory-optimization
This is a Matlab replication of a conference paper 'Trajectory optimization of autonomous driving by differential dynamic programming'.