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We present an algorithm for obtaining an optimal control policy for hybriddynamical systems in cluttered environments. To the best of our knowledge, thisis the first attempt to have a locally optimal solution for this specificproblem setting. Our approach extends an optimal control algorithm for hybriddynamical systems in the obstacle-free case to environments with obstacles. Ourmethod does not require any preset mode sequence or heuristics to prune theexponential search of mode sequences. By first solving the relaxed problem ofgetting an obstacle-free, dynamically feasible trajectory and then solving forboth obstacle-avoidance and optimality, we can generate smooth, locally optimalcontrol policies. We demonstrate the performance of our algorithm on abox-pushing example in a number of environments against the baseline ofrandomly sampling modes and actions with a Kinodynamic RRT.

Hybrid DDP in Clutter (CHDDP): Trajectory Optimization for Hybrid Dynamical System in Cluttered Environments