mpt0816 / TruckPlanner-SQP

A path planner for semi-tailer trucks using sqp

Truck Path Planner

A Tractor-Trailer Path Planner Algorithm.

This is the code reproduction of paper “Optimization-Based On-Road Path Planning for Articulated Vehicles”，which plans a path for semi-trailer trucks. And The specific algorithm details are described in paper "Path Planning for Autonomous Bus Driving in Urban Environments".

1. Install osqp

Run install_osqp.m.

2. Run program

Run Main.m.

3. View results

Figures of program is in TruckPathPlanner/figure.

Results of Senarios # 12:

3.1 Final Planned Path Animation

3.2 Planned Path of SQP iterative process

3.3 The Variables of Final Planned Path

4. Scenario

Edit the code in folder scenario to generate scenarios.