Analysis of Theoretical and Numerical Properties of Sequential Convex Programming for Continuous-Time Optimal Control

Description

SCP implementation for experiments presented in https://arxiv.org/abs/2009.05038.

Example of trajectory for a Dubins car model navigating in a cluttered environment.

This code was tested with Julia 1.4.1. Experiments can be reproduced by running the jupyter notebooks in the root folder:

  jupyter notebook

Name		Name	Last commit message	Last commit date
Latest commit History 5 Commits
Models		Models
SCP		SCP
results/dubins		results/dubins
utils		utils
.gitignore		.gitignore
LICENSE		LICENSE
Manifest.toml		Manifest.toml
Project.toml		Project.toml
README.md		README.md
dubins_free.ipynb		dubins_free.ipynb
dubins_free_MonteCarlo.ipynb		dubins_free_MonteCarlo.ipynb
dubins_free_plotResults.ipynb		dubins_free_plotResults.ipynb
environment.yml		environment.yml