chenghuifen
Follow
Stars
This repository contains multiple approaches for generating global racetrajectories.
Implementation of an iterative linear quadratic regular (iLQR) on inverted pendulum, box quadratic programming (box-QP) is used to deal with the control limits.
Project for 16-748 implementing CILQR for real-time vehicle trajectory planning.
State Lattice Planner for maneuvering through dynamic environments
ROS implementation of State Lattice Planner
Note for Apollo 3.0 perception, prediction and planning modules
easy sample code for minimum snap trajectory planning in MATLAB
Quadrotor control, path planning and trajectory optimization
Path planning using map and sensor data -- includes logic for safe lane changes and longitudinal control
Autonomous Navigation of a vehicle in simulated highway driving environment (making lane changes as per surrounding traffic, avoiding collisions and minimizing jerks)
This research is to create a decision making module for Lane changing Task of Autonomous vehicles.
Rule-Based Safety-Critical Control Design with Application to Autonomous Lane Change https://arxiv.org/abs/2103.12382
Logic to decide when to do a lane change brake or accelerate based on the traffic situation on the highway
第四章 4.3节. 结构化道路单一车辆轨迹优化方法
Path planner that is able to create smooth, safe paths for the car to follow along a 3 lane highway with traffic.
非线性优化主要算法的Matlab程序，有精确线搜索的0.618法和抛物线法, 非精确线搜索的Armijo准则, 最速下降法, 牛顿法, 共轭梯度法, BFGS 算法, DFP 算法, Broyden 族方法, 信赖域方法, 求解非线性最小二乘问题的L-M算法, 解约束优化问题的乘子法, 求解二次规划的有效集法, SQP 子问题的光滑牛顿法以及求解约束优化问题的SQP方法等. 程序基本通用.
smooth path/curve with Gradient Descent method
An efficient path smoothing algorithm that has analytic solution. This algorithm provides curvature continuous path using cubic Bezier curves. This algorithms allows to have limits on maximum curva…
Cubic smoothing splines with natural boundary conditions and automated choice of the smoothing parameter
Eigen based C++11 implementation of cubic spline approximation (smoothing)
A cubic spline interpolator for path smoothing. Compatible with ROS.
An anytime lattice-primitive-based motion planner
ROS implementation of a 2D path planner for nonholonomic vehicles.