Trajectory optimization

Trajectory optimization is next to model predictive control one of the main applications of optimal control theory. Trajectory optimization is used to analyse the behaviour of non-linear dynamical systems or to simulate dynamical systems while the control inputs are generated by the optimizer.

Trajectory optimization has also been the main use case for OpenOCL in the past, although we are currently working on additionally providing solver tailored to model predictive control through acados.

In the context of trajectory optimization, OpenOCL has been used for optimization of airborne wind energy systems (OpenAWE), optimal trajectory generation for race cars, mechanical/robotic systems, multi-stage optimization of spacecraft trajectories.