matlab求二阶偏导代码-TrajectoryOptimization:轨迹优化
matlab求二阶偏导代码弹道优化项目[2013]
介绍
这是NTU数学系2013数值优化课程的一个项目。
。
在这个项目中，我的目标是通过控制执行器的向量来优化其轨迹。
轨迹需要将对象从某个开始状态转换为某个目标状态，并受一组一般约束（在这种情况下，这些约束是基本物理学）。
这是路径规划和机器人技术中的常见问题。
我使用和。
该方法首先进行初步猜测（从起点到目标的非常糟糕的轨迹，甚至可能无法满足所有约束条件），然后通过将物理定义为显式约束条件，进行求解，并最终（希望）简化为实际解决方案。
整个轨迹由N步骤预先定义，其中每个步骤代表约束的子集。
通过增加步骤数量，可以提高解决方案的准确性。
繁重的工作是由Matlab自己的为此设置的非线性约束求解器完成的。
注意：我对存储库进行了一些污染，以概括事物，并向其中添加更多项目，以便找到解决方法：
该项目有两个测试用例：
测试案例1：2D寻路
首先是在2.5D空间中的简单寻路，高度表示成本。
我手动编写了代码，这很不错，因为约束梯度（或约束Jacobian）很容易构建。
。
据我所知，它是没有错误的。
在演示文稿的结尾，您可以看到具有各种不同
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