Please head over to devel
branch for the code in the paper "Spline-Based Minimum-Curvature Trajectory Optimization for Autonomous Racing".
Spline-based Trajectory Optimization tool for Autonomous Racing (Indy Autonomous Challenge)
SciPy
, matplotlib
, shapely
, casadi
, bezier
.pip install -e .
.julia/spline_traj_opt.ipynb
.traj_opt_double_track.yaml
in spline_traj_optm/min_time_otpm/example
to your workspace, and execute traj_opt_double_track
.spline_traj_optm/examples
: Example inputs for the trajectory optimization (Monza)spline_traj_optm/models
: Data classes for holding optimization information (race track, vehicle, and trajectory information)spline_traj_optm/optimization
: Optimization functionsspline_traj_optm/simulator
: Quasi-Steady State (QSS) simulation of a given trajectory for optimal speedspline_traj_optm/tests
: Tests for the packagespline_traj_optm/visualization
: Functions for visualization the optimization and simulation resultsjulia/spline_traj_opt.ipynb
: Julia notebook of the optimization notebookcsvs for inside bound , outside bound, and center line
If there is a bank angle, should be 4 columns with the fourth column as bank angle (if 3 columns bank default to zero)