CASADI ◆ WASMconstrained trajectory lab · runs in your browser
drag obstacles · drag A and B · move the limit sliders · grab the path and pull
booting

minimum time —

—s
solve— iterations— variables— constraints—

the problem, live at the optimum

minimizeT
subject toṗ = v, v̇ = aalways
|v(t)| ≤ vmax
|a(t)| ≤ amax
|p(t) − oj| ≥ rj + δ
p(t) ∈ arena
A → B, at rest at both endsalways
multiple shooting · N = 50 · RK4 · solved by fatrop compiled to WebAssembly

limits price ∂T*/∂limit

constraint activity over time trajectoryon the bound