/ilqr-al-ilqr

nonlinear solver for the constrained problem

Primary LanguagePython

ILQR AL-ILQR Implementation

Euler Method Resolution = 0.5m:




Runge-Kutta3 Resolution = 0.5m:




Euler Method Resolution = 0.1m:




Runge-Kutta3 Resolution = 0.1m:




Reference

1.ILQR:http://roboticexplorationlab.org/papers/iLQR_Tutorial.pdf

2.AL-ILQR:https://bjack205.github.io/papers/AL_iLQR_Tutorial.pdf

3.https://zhuanlan.zhihu.com/p/91865627

4.https://github.com/navigator8972/pylqr

5.https://bicmr.pku.edu.cn/~wenzw/optbook/opt1.pdf

6.https://github.com/RoboticExplorationLab/RobotDynamics.jl

7.https://github.com/RoboticExplorationLab/TrajectoryOptimization.jl

8.https://github.com/RoboticExplorationLab/Altro.jl

9.https://openreview.net/pdf?id=BNDO0dxvjD