/jerk_optimal_velocity_planning

Primary LanguageC++

Jerk Constraint Velocity Planning for an Autonomous Vehicle: Linear Programming Approach

Paper

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
  • 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