Optimization-based real-time path planning for vehicles.
This ROS package generates feasible paths for non-holonomic vehicles.
A png image is loaded as the grid map. You can click to specify the global reference path and the start/goal state of the vehicle.
~~~ roslaunch path_optimizer demo.launch ~~~
gridmap.pngwith other black and white images. Note that the resolution in
demo.cppis set to 0.2m, whick means that the length of one pixel is 0.2m on the map.
This is a computation time test.
rosrun path_optimizer path_optimizer_benchmark
Refer to demo.cpp
The parameters that you can change can be found in