PY_OBCA

pyobca is a python implement of Optimization-Based Collision Avoidance path optimization

for more detail about the algorithm can be found in this paper OBCA

How to run

create virtual environment

conda create --name pyobca python=3.9

conda activate pyobca
install required packages

pip install -r requirements.txt
run example

cd py_obca/example

python example_perpendicular.py

Example result

Todo

improve initial search speed by different algorithm