59 lines
2.0 KiB
Markdown
59 lines
2.0 KiB
Markdown
# Double-Polynomial Trajectory Optimization
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## 1. Setup
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All the tests are conducted in the Linux environment on a computer equipped with an Intel Core i7-10700 CPU and a GeForce RTX 2060 GPU.
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Moreover, our software is developed and tested in Ubuntu 18.04, 20.04 with ROS installed.
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ROS can be installed here: [ROS Installation](http://wiki.ros.org/ROS/Installation).
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To build this project, ensure that you have the following dependencies installed: 
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-[Eigen](https://eigen.tuxfamily.org/index.php?title=Main_Page): A high-level C++ library for linear algebra operations. 
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-The Open Motion Planning Library ([OMPL](https://ompl.kavrakilab.org/)): A comprehensive library for motion planning and control.
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## 2. Build on ROS
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1. Unzipping the compressed file and compile it.
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```bash
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cd ~/trajectoryOpt
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catkin_make -DCMAKE_BUILD_TYPE=Release
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```
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## 3. Run
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Open a new terminal window, `cd ` to `~/trajectoryOpt/` and type:
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```bash
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source devel/setup.bash
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```
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Then, run the script:
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```bash
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./run.sh
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```
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Then, you can use the **2D Nav Goal** in **RVIZ** to trigger the planning.
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Here is an example:
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Here, the blue curve represents the trajectory generated by our method, whereas the red curve depicts the trajectory generated by the differential flattening-based method employed for comparative analysis. 
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The program evaluates the kinematic state at each point along both trajectories and computes the maximum value for each metric.
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If successful, the terminal will output the maximum curvature and maximum steering angle rate ($\omega$) for each method.
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The results indicate that our approach adheres to the kinematic constraint standards, whereas the comparative method violates constraints by more than an order of magnitude.
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Note: Due to computational performance and solver randomness, slight deviations in results may occur.
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## 4. Contact
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If you have any questions, please feel free to contact Zhichao HAN (<zhichaohan@zju.edu.cn>) or Mengze TIAN(<mengze.tian@epfl.ch>).
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