Robot Trajectory Optimization
About Project
Robot Trajectory Optimization is a real-time trajectory-optimization application that plans and simulates the motion of a 2D mobile robot (kinematic bicycle model) along smooth reference paths, using Model Predictive Control (MPC).
Instead of a grid-search planner like A*, the robot's path is treated as a continuous constrained optimization problem: at every control step, the solver computes the steering angle and acceleration that best track the reference path while respecting the vehicle's dynamics, actuator limits, velocity bounds, and obstacle avoidance constraints.
Built as the term project for the Numerical Optimization course at the* Faculty of Electrical Engineering (ETF), University of Sarajevo*, it directly applies quadratic programming, constrained optimization (active-set methods, KKT conditions), and sparse linear algebra covered in the course, and visualizes the result live using the natID GUI framework.
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