This is DDP with Nonlinear Constraints[1]

This code is based on https://kr.mathworks.com/matlabcentral/fileexchange/52069-ilqg-ddp-trajectory-optimization [2].

Dependency

(1) qpOASES in Matlab

How to Use it

(1) open the demo_car.m

(2) run this script

Result

https://youtu.be/rygcNHlTTJ4

ps. Maybe this code is not perfect. So, if you find some bugs in this code, plz send to me by mail (ggory15@snu.ac.kr)

[1] Differential dynamic programming with nonlinear constraints (https://ieeexplore.ieee.org/document/7989086)

[2] Control-Limited Differential Dynamic Programming (https://homes.cs.washington.edu/~todorov/papers/TassaICRA14.pdf)