/MVTP_benchmark

Primary LanguageMATLABGNU Lesser General Public License v2.1LGPL-2.1

MVTP Benchmark

Benchmark suite and solver for Multiple Vehicle Trajectory Planning (MVTP) problems.

animation_case_51

Supported Platforms:

  • Windows x64
  • macOS x64

Papers

Users must cite the following articles if they use the source codes to conduct simulations in their new publications.

  • Yakun Ouyang, Bai Li, Youmin Zhang, et al., "Fast and Optimal Trajectory Planning for Multiple Vehicles in a Nonconvex and Cluttered Environment: Benchmarks, Methodology, and Experiments," accepted by 2022 IEEE International Conference on Robotics and Automation (ICRA) on Jan. 31, 2022.
  • Bai Li, Yakun Ouyang, Youmin Zhang, et al, "Optimal Cooperative Maneuver Planning for Multiple Nonholonomic Robots in a Tiny Environment via Adaptive-Scaling Constrained Optimization," in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 1511-1518, April 2021, doi: 10.1109/LRA.2021.3056346.

How to run

  1. Download CasADi/MATLAB package from CasADi, extract binaries to casadi folder
    1. [Optional] For best performance, users are encouraged to request ma27 linear solver code from HSL for IPOPT
    2. follow the install instructions from Obtaining HSL
    3. set linear_solver to ma27 in params/GetModelParams.m
  2. Run RunBenchmark.m
  3. Play with different benchmark cases and different parameters

Copyright (C) 2022 Yakun Ouyang and Bai Li