This project focused on optimal trajectory generation and robust feedback control for a car-like robot. The generalized task is moving between a starting and desired vehicle configuration while avoiding obstacles and exclusion zones and compensating for control noise. See the report PDF for technical details and example scenarios.
Note: this project makes use of a differential dynamic programming (DDP) code originally written by Dr. Marin Kobilarov (marin(at)jhu.edu). All credit for the DDP code goes to Dr. Kobilarov.