YangSVM / MVTP_benchmark

MVTP Benchmark

Benchmark suite and solver for Multiple Vehicle Trajectory Planning (MVTP) problems.

Supported Platforms:

• Windows x64
• macOS x64

Papers

Users must cite the following articles if they use the source codes to conduct simulations in their new publications.

• Yakun Ouyang, Bai Li, Youmin Zhang, et al., "Fast and Optimal Trajectory Planning for Multiple Vehicles in a Nonconvex and Cluttered Environment: Benchmarks, Methodology, and Experiments," accepted by 2022 IEEE International Conference on Robotics and Automation (ICRA) on Jan. 31, 2022.
• Bai Li, Yakun Ouyang, Youmin Zhang, et al, "Optimal Cooperative Maneuver Planning for Multiple Nonholonomic Robots in a Tiny Environment via Adaptive-Scaling Constrained Optimization," in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 1511-1518, April 2021, doi: 10.1109/LRA.2021.3056346.

How to run

1. Download CasADi/MATLAB package from CasADi, extract binaries to casadi folder
   1. [Optional] For best performance, users are encouraged to request ma27 linear solver code from HSL for IPOPT
   2. follow the install instructions from Obtaining HSL
   3. set linear_solver to ma27 in params/GetModelParams.m
2. Run RunBenchmark.m
3. Play with different benchmark cases and different parameters

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Copyright (C) 2022 Yakun Ouyang and Bai Li

Dataflow

• mvtp
  • obstacles: [n_obstacle, 3]. x, y, radius
  • profiles: [n_car, 6]. start x y yaw, goal x y yaw.
• guesses: initial guesses generated by hybrid A*. [n_car, nfe, 7]. nfe: 时间离散化，采样数目. x, y, yaw, v, phi, a, omega