trajectory-optimization 开源项目推荐（435 个）

NVlabs /curobo

CUDA Accelerated Robot Library

ethz-adrl /control-toolbox

The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control

rst-tu-dortmund /teb_local_planner

考虑基于时弹性带（ROS Pack）的移动机器人独特布局的最佳轨迹规划器

ZJU-FAST-Lab /GCOPTER

A General-Purpose Trajectory Optimizer for Multicopters

loco-3d /crocoddyl

Crocoddyl是接触顺序下机器人控制的最佳控制库。它的求解器基于各种高效的类似差异动态规划（DDD）的算法

mit-acl /faster

3D Trajectory Planner in Unknown Environments

yrlu /quadrotor

Quadrotor control, path planning and trajectory optimization

ethz-adrl /towr

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

dji-sdk /Onboard-SDK

DJI Onboard SDK 官方仓库

Zhefan-Xu /CERLAB-UAV-Autonomy

[CMU] A Versatile and Modular Framework Designed for Autonomous Unmanned Aerial Vehicles [UAVs] (C++/ROS/PX4)

ethz-adrl /ifopt

基于 Eigen 的轻量级 C++ 非线性规划求解器接口（Ipopt、Snopt）

zhaohaojie1998 /Grey-Wolf-Optimizer-for-Path-Planning

灰狼优化算法(GWO)路径规划/轨迹规划/轨迹优化、多智能体/多无人机航迹规划

rst-tu-dortmund /mpc_local_planner

The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations.

mit-acl /mader

Trajectory Planner in Multi-Agent and Dynamic Environments

ZJU-FAST-Lab /Swarm-Formation

Formation Flight in Dense Environments

nyx-space /nyx

Nyx is a high fidelity, fast, reliable and validated astrodynamics toolkit library written in Rust and available in Python

anassinator /ilqr

带有可自动微分动力学模型的迭代线性二次调节器

OpenOCL /OpenOCL

Open Optimal Control Library for Matlab. Trajectory Optimization and non-linear Model Predictive Control (MPC) toolbox.

dojo-sim /Dojo.jl

A differentiable physics engine for robotics

Zhefan-Xu /Intent-MPC

[IEEE RA-L'25] Intent Prediction-Driven Model Predictive Control for UAV Planning and Navigation in Dynamic Environments (C++/ROS)