LiYang412 / av-trajectory-planner-ilqr-

Project for 16-748 implementing CILQR for real-time vehicle trajectory planning.

av-trajectory-planner

Project for 16-748 implementing CILQR for real-time vehicle trajectory planning.

Getting Started

These instructions will get you a copy of the project up and running on your local machine for development and testing purposes.

Setup

This project was tested on Ubuntu 16.04. Follow the setup guide below for the Planner and Simulator.

Planner

sudo apt update
sudo apt install -y cmake \
    build-essential \
    python3-dev \
    pkg-config \
    libjsoncpp-dev \
    python3-pip \
    libblas-dev \
    liblapack-dev \
    libatlas-base-dev

pip3 install numpy==1.11.0

git clone https://github.com/QuantStack/xtl.git
cd xtl
mkdir build
cd build
cmake ..
sudo make install
cd ../../

git clone https://github.com/QuantStack/xtensor.git
cd xtensor
mkdir build
cd build
cmake ..
sudo make install
cd ../../

git clone https://github.com/QuantStack/xtensor-blas.git
cd xtensor-blas
mkdir build
cd build
cmake ..
sudo make install
cd ../../

Clone Repo

Clone the repository:

# Make sure to clone with --recursive
git clone --recursive https://github.com/joshuajbennett/av-trajectory-planner.git
cd av-trajectory-planner

If you didn't clone with the --recursive flag then manuall clone the pybind submodule from the top-level directory:

git submodule update --init --recursive

Build

mkdir build
cd build
cmake ..
make

Simulator

sudo apt install -y ffmpeg \
    libsdl2-dev \
    libsdl2-image-dev \
    libsdl2-mixer-dev \
    libsdl2-ttf-dev \
    libportmidi-dev \
    libswscale-dev \
    libavformat-dev \
    libavcodec-dev \
    zlib1g-dev \
    libmtdev-dev

sudo apt install -y \
    libgstreamer1.0 \
    gstreamer1.0-plugins-base \
    gstreamer1.0-plugins-good

pip3 install -I Cython==0.28.2
pip3 install matplotlib==3.0.2
pip3 install numpy==1.11.0
pip3 install scipy
pip3 install kivy

• Kivy 1.0.9
• Numpy 1.11.0
• Matplotlib 3.0.2
• Python 3.x

You can also install Kivy by following the instructions on this website https://kivy.org/doc/stable/installation/installation-linux.html

Solver

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