Model Predictive Trajectory Generator

This is a path optimization sample on model predictive trajectory generator.

This algorithm is used for state lattice planner.

Code Link

PathPlanning.ModelPredictiveTrajectoryGenerator.trajectory_generator.optimize_trajectory(target, k0, p)[source]

Path optimization sample

https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/ModelPredictiveTrajectoryGenerator/kn05animation.gif

Lookup table generation sample

../../../_images/lookup_table.png

Reference

Optimal rough terrain trajectory generation for wheeled mobile robots