自动泊车代码Matlab-RC_CarTrajOpt:RC_CarTrajOpt

上传者: 38592332 | 上传时间: 2022-04-15 21:18:31 | 文件大小: 10.68MB | 文件类型: ZIP
自动泊车代码Matlab ME149:机器人技术的最佳控制最终报告自述文件 肖恩·罗森·利维(Shane Rozen-Levy) 客观的 该项目的目标是为RC汽车产生最佳轨迹。 我们为汽车转弯和平行停车设计了轨迹。 代码 顶级功能 我的代码在主目录中有两个顶级功能。 MAIN_simpleCarParallelPark.m是平行停车的入口点。 Main_simpleCarUTurn.m是汽车掉头的入口点。 通用代码大纲 主要功能设置问题的参数化版本。 这样可以轻松更改道路尺寸等参数,如果时间是决策变量,则可以轻松更改。 然后,他们调用子例程目录中的simpleCarSubProblem.m。 simpleCarSubProblem使用传递给它的参数为dirColBvpTrap.m设置问题结构。 然后,dirColBvpTrap.m隐含梯形搭配,并将探头传递给fmincon进行求解。 依存关系 该项目是用MATLAB 2017a编写的。 主要功能的所有依赖关系都位于CodeLibrary目录或子例程目录中。 假设您不移动目录,这两个主要功能都会自动将目录添加到您的路径中。 没有其他依赖项

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