CFS 凸可行集算法

CFS: Convex Feasible Set

根据优化问题的结构在当前迭代点上构造凸可行域. 与convex corridor的区别: convex corridor根据障碍物的特点构造实际空间上可行域, 而Convex Feasible Set是根据优化问题的结构通过解析式构造优化变量空间上的可行域.

SCCFS: Soft Constrained Convex Feasible Set

带约束版本的CFS

FOAD：Fast Optimization Based Autonomous Driving Motion Planner

cfs 在自动驾驶领域的应用

ref

• project
  • Convex Feasible Set python code
  • CFS on arm with matlab
• blog
  • 论文阅读：Convex Feasible Set Algorithm 01
  • FOAD基于数值优化的自动驾驶实时运动规划
  • 论文阅读：Convex Feasible Set Algorithm 02
• paper
  • 2016 The convex feasible set algorithm for real time optimization in motion planning
  • 2017 Convex feasible set algorithm for constrained trajectory smoothing
  • FOAD: Fast optimization-based autonomous driving motion planner