motion-planning

Trajectory Planner with GEKKO is not able to handle given goal velocities

由 两盒软妹~` 提交于 2021-02-09 07:30:22
问题 I have set up a Trajectory Planner for a vehicle with GEKKO, so basically i used a kinematic single-track model, which in nonlinear. It all works fine until i get to the part, when i give a goal velocity that is not equal to 0. I can give all other goal states (x-position, y-position, steering angle and yaw angle) without problems, but if i give a goal velocity, the optimizer exits with the following code: Converged to a point of local infeasibility. Problem may be infeasible. I also tried

Trajectory Planner with GEKKO is not able to handle given goal velocities

由 ♀尐吖头ヾ 提交于 2021-02-09 07:26:14
问题 I have set up a Trajectory Planner for a vehicle with GEKKO, so basically i used a kinematic single-track model, which in nonlinear. It all works fine until i get to the part, when i give a goal velocity that is not equal to 0. I can give all other goal states (x-position, y-position, steering angle and yaw angle) without problems, but if i give a goal velocity, the optimizer exits with the following code: Converged to a point of local infeasibility. Problem may be infeasible. I also tried

Trajectory Planner with GEKKO is not able to handle given goal velocities

由 自作多情 提交于 2021-02-09 07:26:02
问题 I have set up a Trajectory Planner for a vehicle with GEKKO, so basically i used a kinematic single-track model, which in nonlinear. It all works fine until i get to the part, when i give a goal velocity that is not equal to 0. I can give all other goal states (x-position, y-position, steering angle and yaw angle) without problems, but if i give a goal velocity, the optimizer exits with the following code: Converged to a point of local infeasibility. Problem may be infeasible. I also tried

SAT based motion planning

由 半腔热情 提交于 2019-12-13 09:02:40
问题 SAT BASED MOTION PLANNING ALGORITHM A simple motion planning problem can be remodelled as a SAT solving problem . Can anyone explain how is this possible? In this problem, we have to find a collision free path from start to end location. 回答1: The simplest example could look like this. Let's introduce 2D grid of N rows and M columns, a moving agent A starts at a node (x,y). His target T has coordinates (x_i, y_j): To reach a target the agent should perform several steps - move left, right, up

Path generation for non-intersecting disc movement on a plane

由 …衆ロ難τιáo~ 提交于 2019-11-27 14:42:23
What I'm looking for I have 300 or fewer discs of equal radius on a plane. At time 0 each disc is at a position. At time 1 each disc is at a potentially different position. I'm looking to generate a 2D path for each disc for times between 0 and 1 such that the discs do not intersect and the paths are relatively efficient (short) and of low curvature if possible. (for example, straight lines are preferable to squiggly lines) Lower computation time is generally more important than exactness of solution. (for example, a little intersection is okay, and I don't necessarily need an optimal result)

Path generation for non-intersecting disc movement on a plane

由 南笙酒味 提交于 2019-11-26 16:55:00
问题 What I'm looking for I have 300 or fewer discs of equal radius on a plane. At time 0 each disc is at a position. At time 1 each disc is at a potentially different position. I'm looking to generate a 2D path for each disc for times between 0 and 1 such that the discs do not intersect and the paths are relatively efficient (short) and of low curvature if possible. (for example, straight lines are preferable to squiggly lines) Lower computation time is generally more important than exactness of
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