Implementation of Successive Convexification: A Superlinearly Convergent Algorithm for Non-convex Optimal Control Problems by Yuanqi Mao, Michael Szmuk, Xiangru Xu, and Behcet Acikmese
This framework provides an easy way to implement your own models. Both fixed- and free-final-time optimization is possible.
The following models are currently implemented:
- Rocket trajectory model with free-final-time based on Successive Convexification for 6-DoF Mars Rocket Powered Landing with Free-Final-Time by Michael Szmuk and Behçet Açıkmeşe:
- Differential drive robot path planning with free-final-time and non-convex obstacle constraints:
- Fixed-final-time quadcopter obstacle avoidance demo from Section 5 of the original paper Successive Convexification: A Superlinearly Convergent Algorithm for Non-convex Optimal Control Problems :
