Trajectory Optimization of a Spaceship with Direct Single Shooting and Direct Transcription
Trajectory Optimization for Reaching Goal PositionDescription
In this project, trajectory optimization methods are compared in a target-reaching task, where direct shooting optimizes over the control only whereas direct transcription enforces physics as a constraint and simultaneously optimizes over the control and the state. Finally, an orbit tracking problem is solved within a limited time of actuation by employing model predictive control and solving the optimization problem with longer horizons.
Chenhao Li
Reinforcement Learning for Robotics
My research interests focus on the general field of robot learning, including reinforcement learning, developmental robotics and legged intelligence.