Requirements

Managed by pipenv.

$ pip install pipenv
$ pipenv install

Contents

convex_optimization_algorithms

prinam dual interpoint method

pipenv run python convex_optimization_algorithms/primal_dual_interpoint/primal_dual_interpoint.py

prinam dual interpoint method

pipenv run python convex_optimization_algorithms/active_set/active_set.py

A* based speed planner

A* based speed planning test in t-s space.

$ pipenv run python astar_velocity_planning/astar_speed_planner.py

• Black : Obstacle occupied area
• Red : Optimal path
• Gray : Candidates

Reference

Lim, Wonteak & Lee, Seongjin & Sunwoo, Myoungho & Jo, Kichun. (2018). Hierarchical Trajectory Planning of an Autonomous Car Based on the Integration of a Sampling and an Optimization Method. IEEE Transactions on Intelligent Transportation Systems. 19. 1-14.

stop_dist_calc_w_jerk_acc_constraint

calc_to_generate_csv

calculate stop dist and generate csv.

$ pipenv run python stop_dist_calc_w_jerk_acc_constraint/calc_to_generate_csv.py

calc_with_plots

calculate stop dist and plot the result.

$ pipenv run python stop_dist_calc_w_jerk_acc_constraint/calc_with_plots.py

Path Following Sim

sim_1d_time_delay.py

$ pipenv run python ./path_following_sim/sim_1d_time_delay.py

model

Path following error dynamics with time_delay: tau and time_constant: d

args

-h shows help for usage.

$ pipenv run python3 ./path_following_sim/sim_1d_time_delay.py -h

usage: sim_1d_time_delay.py [-h] [-D] [-v VELOCITY] [-d TIME_DELAY]
                            [-t TIME_CONSTANT] [-kp P_GAIN] [-kd D_GAIN]

optional arguments:
  -h, --help            show this help message and exit
  -D, --sim_with_delay  set if sim with delay time is needed
  -v VELOCITY, --velocity VELOCITY
                        sim parameter: velocity
  -d TIME_DELAY, --time_delay TIME_DELAY
                        sim parameter: delay time
  -t TIME_CONSTANT, --time_constant TIME_CONSTANT
                        sim parameter: time constant
  -kp P_GAIN, --p_gain P_GAIN
                        sim parameter: p gain
  -kd D_GAIN, --d_gain D_GAIN
                        sim parameter: d gain