Motion planning work using optimal control. (include path and trajectory planning)
Example 1: 2d robot, kinematics constraint, time optimal, run MAIN.m in test2D-simple
Example 2: 2d robot, kinematics constraint, obstacle avoidance, time optimal, run MAIN.m in test2D-kin-obstacle
Example 3: 2d robot, kinematics constraint, bounded torque, obstacle avoidance, time optimal, run MAIN.m in test2D-dyn-obstacle
dependent packages: chebfun-master(v5.7.0), CasADi for MATLAB.