Meow

A Matlab Simulation Repo, now focus on robot visualization and Navigation planning.

Contents

.
├── meow_startup.m      # load lib path
├── doc                 # demo picture
├── examples            # some demo and feature test
├── third               # third lib
├── utils               # create common object
└── visualization       # draw object on current figure

Demo

Robot Base

• Differential wheeled robot

• robot on the road

Path

• Quintic Bezier Blend

Trajectory

Velocity Planning - paper

• Time optimal velocity planning using Linear Programming in the form of a second order B-Spline

• add SQP for minimum - [time & jerk] obj

• Linear Programming with Heurist Window

• Motion Velocity Smoother

autoware 代码中将论文中的 SOCP 问题简化为 QP 问题；虽然只考虑了 smooth 和 IoD，但合理整定参数也可以基本实现较好的光滑速度曲线。

Refs

• https://github.com/star2dust/Robotics-Toolbox