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SleipnirGroup / Choreo

A graphical tool for planning time-optimized trajectories for autonomous mobile robots in the FIRST Robotics Competition.
BSD 3-Clause "New" or "Revised" License
129 stars 38 forks source link

Add maximum acceleration constraint #421

Closed MidgleyM closed 3 weeks ago

MidgleyM commented 5 months ago

Having a constraint for the maximum acceleration and deceleration of your robot could help make sure that robots can follow the path better, as robots can sometimes skid if they try to decelerate or accelerate too quickly, and currently there's no real way to configure this other than having a ton of max velocity waypoints and calling it good.

calcmogul commented 5 months ago

A better way to solve this is a maximum force cone in the optimization problem formulation, since it's a friction constraint.

calcmogul commented 1 month ago

TrajoptLib's Rust API has wpt_linear_acceleration_max_magnitude and sgmt_linear_acceleration_max_magnitude now, so we just need to plumb it into Choreo.