This repo contains trajectory-optimisation on some basic systems (ex: pendulum,cartpole ,quadrotors and manipulators). Will be implementing algorithms like finite horizon LQR, iLQR , AL-ilQR,Box DDP and DIRCOL.
git clone https://github.com/yaswanth1701/Trajectory-Optimization.git
cd Trajectory-Optimization
git submodule update --init --recursive
Make sure to run gym-pybullet-drones
inside the conda environment (for details click here).
[X] Iterative LQR (with finite-horizon LQR for trajectory tracking) :
[x] Infinite LQR (with quaternion as state):
for code refer here.