Robotics Lec11: Trajectory Optimization (Fall 2023)

This video shows how to formulate and program a trajectory optimization problem. The problem is minimizing the time needed to go from one stoplight to another. The solution to this problem is to do full acceleration for half the time and full deceleration for the next.
Two methods, 1) Collocation and 2) Single shooting are used to illustrate that we get this bang-bang solution.

For notes and python code see this link:

The entire playlist for the Fall 2023 course is here: