/SpiralsTrajactory

Using Polynomial Spirals generate trajectory library for autonomous vechile motion planning

Primary LanguageC++GNU Affero General Public License v3.0AGPL-3.0

spiralsTrajactory

分支 matcasadi

更新了基于 C++/Matlab casADi 求解待路径约束的轨迹优化，可以求解不等式约束。有需要的切换到casADi分支。

notice

The code for this branch is simply an implementation of both end boundary constraints, and you cannot add inequality path constraints, now branch casADi can add all constraints using the direct collocation method, suggesting code that uses the CasADi branch if needed.

Introdution

sprialsTrajactory is a C++ trajectory generation library for autonomous vehicle motion planning based on project PolyTraj. Given a start pose and an end pose, spiralsTrajactory will generate a C2 continuous path connecting the two poses. This project is more accurate and stable than project PolyTraj.

Boundary constraints

Reference papers

  1. Parallel Algorithms for Real-time Motion Planning

  2. Reactive Nonholonomic Trajectory Generation via Parametric Optimal Control

Reference blog

1.【轨迹生成】参数化最优控制 约束-控制-图形参数

2.基于多项式螺旋曲线的轨迹优化

Installation

  1. Install Eigen.
  2. Install gnuplot (If you don't need to display path results, you can comment out the plot code.)

Contact

rongmin liang CSDN