Motion Planning Toolbox

This repository contains the code of the controltlbx library that can be used as a standalone library or via the application executable that provides a GUI.

Table of contents

• Table of contents
• Purposes
  • Library
  • Application
• Examples
  • Van-der-Pol Oscillator
• Documentation
• Build & Install
  • Requirement
  • Unix
• Credits

Purposes

Library

The purpose of the controltlbx is to provide an efficient way of computing trajectories of control systems. It's ultimate goal is to be a solver for (optimal) control design, i.e. designing a control that achieve a certain (optimal) trajectory.

Features :

• Simulation of nonlinear dynamical systems
• Simulation of control-nonlinear dynamical systems
  • Linear control (a specification of the above)

Planned features :

• Motion Planing for a state configuration
• Motion planning of a full trajectory
• Optimal Control problem solver
• Delayed ODE
• Real time control design

Application

The application configures and launches experiments (simulations) from a single *.json* file. The GUI is a wrapper around this program that build the *.json* configuration file and post-processes the results .

Examples

All examples presented below can be configure in a single *.json* file and will therefore be configured and launched one after another.

Van-der-Pol Oscillator

This section describe a simulation of the Van derPol oscillator. The dynamical system is as follows: $$ \begin{pmatrix}