zlatanajanovic / SBMP_PerfDriving

code for "Search-Based Motion Planning for Performance Autonomous Driving"

Search-Based Motion Planning for Performance Automated Driving

This is accompanying code to the "Search-based task and motion planning for hybrid systems: Agile autonomous vehicles".

Usage

The complete code for SBOMP is developed from scratch in Matlab without any additional solver of library needed.

To run the code you just need to run main_v1_0.m from Matlab Editor.

To enable/disable visualisations, comment/uncomment appropriate lines in the section Simulation options in line 15-49 of the main_v1_0.m.

SBOMP in action

Cite

If you found SBMP relevant for your research, please cite it as:

@article{ajanovic2023search,
title = {Search-based task and motion planning for hybrid systems: Agile autonomous vehicles},
author = {Zlatan Ajanović and Enrico Regolin and Barys Shyrokau and Hana Ćatić and Martin Horn and Antonella Ferrara},
journal = {Engineering Applications of Artificial Intelligence},
volume = {121},
pages = {105893},
year = {2023},
issn = {0952-1976},
doi = {https://doi.org/10.1016/j.engappai.2023.105893},
url = {https://www.sciencedirect.com/science/article/pii/S0952197623000775},
}