I noticed that the ST dynamic programming is commented out in the Simulink, the part linked with the main body is the "simple speed qp planning" module, I tried to commented out the "simple speed qp planning" module, and linked the "ST dynamic programming" with the main body, I found that the simulation run much slower,
Q1: so the advantage taken by "ST dynamic programming" is not obvious, what's more, the "simple speed qp planning" doesn't consider the dynamic obstacles, so the comparison in the aspect of real-time performance is hard to make, right?
Q2: Can I use the output of "ST dynamic programming" (that is dp_s, dp_s_dot, dp_s_dot2, and dp_relative_time) as the input of "simple speed qp planning" module? Thus leading to a "DP"+"QP" procedure?
Hi Liu,
Thanks for your sharing about your work!
I noticed that the ST dynamic programming is commented out in the Simulink, the part linked with the main body is the "simple speed qp planning" module, I tried to commented out the "simple speed qp planning" module, and linked the "ST dynamic programming" with the main body, I found that the simulation run much slower, Q1: so the advantage taken by "ST dynamic programming" is not obvious, what's more, the "simple speed qp planning" doesn't consider the dynamic obstacles, so the comparison in the aspect of real-time performance is hard to make, right?
Q2: Can I use the output of "ST dynamic programming" (that is dp_s, dp_s_dot, dp_s_dot2, and dp_relative_time) as the input of "simple speed qp planning" module? Thus leading to a "DP"+"QP" procedure?
Thanks in advance! Looking forward to your reply!