Jerk Constraint Velocity Planning for an Autonomous Vehicle: Linear Programming Approach
Paper
Coming Soon.
Dependencies.
This code has been tested on OSX, but the author is working to test the code on Ubuntu18.04/20.04. External dependencies are
- Gurobi 9.1
- NLOPT
- Eigen3
- OSQP
- CMake3.3 or higher
Getting Started
1. Build the Code
mkdir build
cd build
cmake ..
make
2. Running Code
- Running the main code
./filter_position_opt
- Running the visualization code
python3 visualize_experiments.py
- Running the st graph code
python3 visualize_st.py
Result
- Scenario Normal
- Scenario Stop
Author
Yutaka Shimizu: yutaka.shimizu@pf.is.s.u-tokyo.ac.jp
If you have any questions about the code or paper, feel free to contact the author either through Issues or email.