NLOptControl.jl Documentation

Introduction

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Installation

There are several packages that need to be installed, to do this run:

Pkg.clone("https://github.com/JuliaMPC/PrettyPlots.jl")
Pkg.clone("https://github.com/JuliaMPC/VehicleModels.jl")
Pkg.clone("https://github.com/JuliaMPC/NLOptControl.jl")

Citation

If you find this package useful, please cite this paper:

@Conference{Febbo2017,
  author    = {Huckleberry Febbo, Jiechao Liu, Paramsothy Jayakumar, Jeffrey L. Stein, Tulga Ersal},
  title     = {Moving Obstacle Avoidance for Large, High-Speed Autonomous Ground Vehicles},
  year      = {2017},
  publisher = {IEEE}
}

Tutorials

For NLOptControl.jl there are several examples provided:

• Bryson Denham
• Brachistochrone
• HyperSensitive
• Moon Lander
• Kinematic Bicycle Model
• RobotArm

Background Info

While detailed information on these approaches to discretizing infinite dimensional (or continuous) optimal control problems can be found (and comes from) this Ph.D. dissertation, this related journal publication and this technical report, the Background Information section will cover some basics.

• Lagrange Interpolating Polynomials
• Optimal Control Problem Definition
• Time Marching Methods
• Pseudospectral Methods

Exported Functions

The following link provides documentation all of the exported functions for NLOptControl.jl, VehicleModels.jl, and PrettyPlots.jl.

• NLOptControl.jl
• VehicleModels.jl
• PrettyPlots.jl

Acknowledgements

Miles Lubin, https://jump.readthedocs.io/en/latest/ Chris Rackauckas, https://github.com/JuliaDiffEq/DifferentialEquations.jl