My attempt at various optimal control problems solved in python using the follwing methods:
- Indirect Single Shooting
- Indirect Multiple Shooting
- Direct Single Shooting
- Direct Multiple Shooting
Problems:
- Hypersensitive
- Brachistochrone
- Orbit Transfer
- Mobile Robot
- (Attempt of) Robot Arm
Dependencies:
- Numpy
- Scipy
- Matplotlib
- Jupyter Notebooks
TODO: For problems with an angle as the control, use substitution u1 = cos(angle) and u2 = sin(angle) with a path constraint of u1^2 + u2^2 = 1