/kr_ilqr_optimizer

Use iLQR package Altro to fly the quadrotor

Primary LanguageC++

KR iLQR Optimizer

Maintainer:

Yifei Shao (yishao at seas.upenn.edu)

Description

This package hooks up the Altro solver with the KR_autonomous flight stack to do constrained trajectory optimization. It can work in 2 ways

  1. Run the solver in a separate node
  2. Functions in this package will are called in the action_planner package to run the solver easily

Dependencies

  1. Altro: When building altro, remember to not include the -march=native flag in the CMakeLists.txt file. After building, install it as a staic library so find_packages() can find it. Forked Altro is not yet publically avaible, and I don't know if the original version works.
  2. Eigen > 3.4.0

ToDos

  1. Don't use finite difference to compute the jacobian of dynamics.
  2. Move Altro Fork as a dependency inside this repo
  3. Build planning_detail option to run this.
  4. Build python binding for generating motion primitives
  5. MPC style initialization, make it much faster
  6. Add polyotpe constraints