Optimization toolbox ng_trajectory

ng_trajectory is a toolbox for solving the optimal racing line problem using various methods and approaches. The main idea stands on using a genetic algorithm, although other approaches may be used as well.

The main purpose of this package is to demonstrate our proposed Matryoshka mapping [1].

To view the package documentation either run ng_help, or see doc/README.md.

Requirements

• Python>=3.6
• nevergrad==0.3.0
• scipy>=0.18.0
• numpy>=1.12.0
• Pillow>=4.2.0
• tqdm

Optional requirements

• matplotlib for plotting the results
• rospy for publishing the results to various ROS topics
• shapely (EXPERIMENTAL) for computing the Matryoshka transformation with a different method

Citing

[1]: J. Klapálek, A. Novák, M. Sojka and Z. Hanzálek, "Car Racing Line Optimization with Genetic Algorithm using Approximate Homeomorphism," 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, pp. 601-607, doi: 10.1109/IROS51168.2021.9636503.