autopilot
optimization based parking planner
YeeKal
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"#autopilot"
Intro
- MIQP
- Bilevel Optimization
- Mathematical Program with Complementarity Constraints (MPCC)
methods
- 分形搜索 Fractal Search
- NMPC 碰撞检测
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CBF: Control Barrier Functions
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within-STC constraints
- Collision Detection Accelerated:An Optimization Perspective
geometry path pattern
A new geometry-based secondary path planning for automatic parking
minkowski sum
实质则是构型空间？如何转化为优化问题
- 2020-Closed-Form Minkowski Sum Approximations for Efficient Optimization-Based Collision Avoidance
- 2015-Efficient Configuration Space Construction and Optimization for Motion Planning
- A Simple Method for Computing Minkowski Sum Boundary in 3D Using Collision Detection
- Exact and Efficient Construction of Planar Minkowski Sums using the Convolution Method
- 2019 Efficient Exact Collision Detection between Ellipsoids and Superquadrics via Closed-form Minkowski Sums
- Real-time Reciprocal Collision Avoidance with Elliptical Agents
- 2011 Fast and robust 2D Minkowski sum using reduced convolution
- Polygonal Minkowski Sums via Convolution:Theory and Practice
Reciprocal Velocity Obstacles (RVO)
碰撞检测 GJK，全称Gilbert–Johnson–Keerthi distance algorithm
A Linear and Exact Algorithm for Whole-Body Collision Evaluation via Scale Optimization
Mixed Integer Conic Optimization using Julia and JuMP
- lecture: Mixed Integer Conic Optimization using Julia and JuMP
- paper: Extended Formulations in Mixed Integer Conic Quadratic Programming
Narrow-Roads-Timed-Elastic-Band
Ref
结合TEB进行窄通道的freespace规划
Narrow-Roads-Timed-Elastic-Band
2016 single step optimization
- Optimisation based path planning for car parking in narrow environments
- tags:
运动规划(motion planning)基于优化的方法(optimization based)自动驾驶(autopilot) - algorithm guidance:
- phase A and phase B 的规划
- 对于狭窄空间,guide-tree 进行换挡采样
- courses/ko/parking:对以上算法的实践
- paper notes
0130
- 2016 Spatio-temporal decomposition: a knowledge-based initialization strategy for parallel parking motion optimization
- 2017 Hybrid curvature steer: A novel extend function for sampling-based nonholonomic motion planning in tight environments
- 2022 Parallel Parking: Optimal Entry and Minimum Slot Dimensions
- 2016 Time-Optimal Maneuver Planning in Automatic Parallel Parking Using a Simultaneous Dynamic Optimization Approach
0203
- Trajectory optimization for Car-Like Vehicles in Structured and Semi-Structured Environments
- Efficient_Collision_Detection_between_2D_Polygons
ref
- project
- paper
- 2013 A fast motion planning algorithm for car parking based on static optimization
- Practical motion planning for car-parking control in narrow environment
- A new geometry-based secondary path planning for automatic parking
- 2022 Continuous-Curvature Target Tree Algorithm for Path Planning in Complex Parking Environments
- ALTRO: A Fast Solver for Constrained Trajectory Optimization
- Solving Constrained Trajectory Planning Problems Using Biased Particle Swarm Optimization
- 2020-An Optimization-Based Receding Horizon Trajectory Planning Algorithm
- kinodynamic-motion-planning-benchmark
- 2008 - On-line Path Planning For an Autonomous Vehicle in an Obstacle Filled Environment
- 2021 - Fast UAV Trajectory Optimization using Bilevel Optimization with Analytical Gradients
- 2019-A bilevel optimal motion planning (BOMP) model with application to autonomous parking
- paper(NN)
- course
- tool / library