Path planning for point mass in a constraint Environment using Alternating direction method of multipliers (ADMM) algorithm

This project focused on how to use ADMM method to use path planning within environment having spherical shaped obstacles

In this project I have used ADMM algorithm to solve path planning problem in constrained envrionment. I have used python and jax to accelated performance in loop. Used jax library for faster optimization over a batch
github library : github_admm website.

3d trajectory plot showing initial straight guess trajectory (green) and final trajectory (red) found by ADMM optimizer .