DIRECT: a differential dynamic programming based framework for trajectory generation

• Main Authors: Cao, Kun, Cao, Muqing, Yuan, Shenghai, Xie, Lihua
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2022
• Subjects: Engineering::Electrical and electronic engineering; Constrained Motion Planning; Optimization and Optimal Control
• Online Access: https://hdl.handle.net/10356/162410
• Institution: Nanyang Technological University

This letter introduces a differential dynamic programming (DDP) based framework for polynomial trajectory generation for differentially flat systems. In particular, instead of using a linear equation with increasing size to represent multiple polynomial segments as in literature, we take a new persp...