constraint differential dynamical programming
constraint differential dynamical programming.
Code for the paper Differential Dynamic Programming with Nonlinear Constraints, Zhaoming Xie, C. Karen Liu, and Kris Hauser, in IEEE International Conference on Robotics and Automation (ICRA), 2017: https://zhaomingxie.github.io/publications/CDDP.pdf.
use OSQP (https://osqp.org/docs/index.html) as QP solver
contains example for a double integrator and a 2D car with circular constraint
Emmmm, It would be better to add the author of this method please. Just because one of the authors of this paper is my professor.
Thanks anyway.
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