qingweilau / ddp-on-trajectory-optimization

This is a Matlab replication of a conference paper 'Trajectory optimization of autonomous driving by differential dynamic programming'.

DDP-on-Trajectory-Optimization

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.

Run optimizer to plan a route for the vehicle with 0 initial state.

Run veloPlot to see a comparison of output trajectories with different initial velocities.

Run orienPlot to see a comparison of output trajectories with different initial orientations.