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New Obstacle Avoidance Algorithm #8
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The first task is nearly completed with https://github.com/huckl3b3rry87/MAVs.jl/tree/feature/yaml. A few things still need to be tested and developed and then it can be merged into the master |
with this commit the three items on TODO 1 are complete |
TODO 2
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The first item on TODO 2 is done with this commit. Now, it should work as a stand alone module that updates these parameters
it will publish trajectories as
Given parameter information about the obstacles
and the initial state of the vehicle
In the |
changed file names from path_follower to path_following
Feature
Integrate a the obstacle avoidance algorithm described in this paper which I can now solve in real time using an official julia package that I developed called NLOptControl.
Motivation
If a vehicle needs to drive quickly and avoid moving obstacles then NLOptControl is well suited to solve the trajectory planning problem. Where A* and OpenPlanner are path planning algorithms and are mostly concerned with satisfying kinematic/geometric constraints, they can identify a path to follow, but without a temporal component, they do not tell you how to follow the path. While, trajectory planning also considers how you can follow the path. So, for instance, what are the optimal steering and throttle trajectories (not simply what are the X and Y waypoints).
NLOptControl is designed as a high level tool, so resarchers can easily define their own optimization problems, see my documentation here.
TODO
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