Optrol

Optimization based control of non-holonomic systems

Demonstration

For setup:

./scripts/build/sim.sh

For deploy:

TermA:

./scripts/deploy/devel.sh
ros2 run optimal_control planner.py

TermB:

./scripts/deploy/devel.sh
ros2 launch limo_simulation limo.launch.py

Closed: mean, variance of time taken to traverse from (0, 0) to points ranging from (-10, -10) to (10, 10)

feas: 0.07845346485260771 0.014564721790217018
min_jerk: 0.3625517959183673 0.49373335906611254

Forward: mean, variance of time taken to traverse from (0, 0) to points ranging from (-10, -10) to (10, 10)

feas: 0.09625590702947845 0.09453448430218862
min_jerk: 0.4514233968253968 0.9096550141537358