Welcome to my blog, where I write about control engineering, mathematical optimization, and computer programming. My goal is to make each post a self-contained, and hopefully interesting, recipe for "how to do X".
SCP Toolbox Tutorial Jul 15, 2021
The Sequential Convex Programming (SCP) Toolbox provides a suite of fast nonlinear optimal control algorithms for solving nonconvex trajectory generation tasks. These algorithms have been applied on problems for organizations such as NASA, SpaceX, Blue Origin, and Masten Space Systems. This post shows you how to get started with the SCP Toolbox by solving a simple obstacle avoidance problem for Dubin’s car model... Continue reading