landing-planner

Direct collocation trajectory optimization for a reusable rocket booster system

Demo: https://www.youtube.com/watch?v=K-U8K1ciSDg

Report: https://github.com/niwhsa9/landing-planner/blob/main/Report.pdf

This planner optimizes a trajectory for a 2 dimensional rocket with the following dynamics:

$$ \begin{bmatrix} \ddot{x} \\ \ddot{y} \\ \end{bmatrix} = R^{world}_{ship} \begin{bmatrix} \frac{F}{m} \cos \alpha \\ \frac{F}{m} \sin \alpha \end{bmatrix} \begin{bmatrix} \ddot{x} \\ \ddot{y} \\ \end{bmatrix} + \begin{bmatrix} 0 \\ -9.8 \\ \end{bmatrix}$$

$$\ddot{\theta} = \frac{-F \sin \alpha}{I} \frac{h}{2}$$

$$\dot{f} = kF$$

The trajectory satisfies: $$z^* = \arg\min_{z_t} f_T$$