LiYang412 / jerk_optimal_velocity_planning

Jerk Constraint Velocity Planning for an Autonomous Vehicle: Linear Programming Approach

Paper

Coming Soon.

Dependencies.

This code has been tested on OSX, but the author is working to test the code on Ubuntu18.04/20.04. External dependencies are

• Gurobi 9.1
• NLOPT
• Eigen3
• OSQP
• CMake3.3 or higher

Getting Started

1. Build the Code

mkdir build
cd build
cmake ..
make 

2. Running Code

• Running the main code

./filter_position_opt

• Running the visualization code

python3 visualize_experiments.py

• Running the st graph code

python3 visualize_st.py

Result

• Scenario Normal

• Scenario Stop

Author

Yutaka Shimizu: [e-mail]
If you have any questions about the code or paper, feel free to contact the author either through Issues or email.