Collision-Free Smooth Path Generation + Time Optimal Path Parameterization + Model Predictive Control
For detailed formula derivation, please see zhangzrjerry.github.io/blog/2024/11/24/cotimo/
- D. Verscheure, B. Demeulenaere, J. Swevers, J. De Schutter, and M. Diehl, “Time-Optimal Path Tracking for Robots: A Convex Optimization Approach,” IEEE Trans. Automat. Contr., vol. 54, no. 10, pp. 2318–2327, Oct. 2009, doi: 10.1109/TAC.2009.2028959.
- F. Gao, W. Wu, J. Pan, B. Zhou, and S. Shen, “Optimal Time Allocation for Quadrotor Trajectory Generation,” in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid: IEEE, Oct. 2018, pp. 4715–4722. doi: 10.1109/IROS.2018.8593579.
- github.com/ZJU-FAST-Lab/SDQP
- github.com/ZJU-FAST-Lab/LBFGS-Lite/