Loader Planner

1. Prerequisites

1.1 Ubuntu and ROS

Ubuntu >= 18.04
ROS >= Melodic. ROS Installation
ROS-rviz version >=5

1.2 Eigen3, Ipopt, CasADi, Boost

install.sh

#!/bin/bash
#!/bin/bash
#Boost
sudo apt update
sudo apt install -y libboost-dev

#glog
sudo apt-get install -y libgoogle-glog-dev

#eigen3.4
cd ~/Downloads
wget https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.zip
unzip eigen-3.4.0.zip &&cd eigen-3.4.0
mkdir build
cd build
cmake ..
make
sudo make install

#ipopt
sudo apt-get install -y --allow-unauthenticated gfortran pkg-config coinor-libipopt-dev liblapack-dev libmetis-dev
cd ~/Downloads
mkdir Ipopt_pkg
cd Ipopt_pkg
git clone https://github.com/coin-or-tools/ThirdParty-ASL.git  #ASL
cd ThirdParty-ASL
./get.ASL
./configure
make
sudo make install
#https://github.com/coin-or-tools/ThirdParty-HSL.git  #HSL(no install)
cd ~/Downloads/Ipopt_pkg
git clone https://github.com/coin-or-tools/ThirdParty-Mumps.git #Mumps
cd ThirdParty-Mumps
./get.Mumps
./configure
make
sudo make install
cd ~/Downloads/Ipopt_pkg #ipopt
git clone https://github.com/coin-or/Ipopt.git
cd Ipopt 
mkdir build
cd build
../configure
make 
sudo make install
cd /usr/local/include
sudo cp coin-or coin -r
sudo ln -s /usr/local/lib/libcoinmumps.so.3 /usr/lib/libcoinmumps.so.3
sudo ln -s /usr/local/lib/libcoinhsl.so.2 /usr/lib/libcoinhsl.so.2
sudo ln -s /usr/local/lib/libipopt.so.3 /usr/lib/libipopt.so.3

#CasADi
cd ~/Downloads
git clone --recursive https://github.com/casadi/casadi.git
cd casadi && mkdir build 
cd build 
cmake .. -DCMAKE_BUILD_TYPE=RELEASE -DWITH_IPOPT=true
make
sudo make install

2. Build from source

Clone the respository, and build it. If the ros package cannot be found during compilation, use sudo apt install -y ros-{your-ros}-{package} to install it.

git clone https://[email protected]/Photin1a/LoaderPlanner.git
cd LoaderPlanner
catkin build
source devel/setup.bash

If you can't clone due to permissions, you can download it manually.

3. Run

roslaunch simple_move_base simple_move_base.launch

others

If you are using to develop, you can use compile_commands.sh to configure the path of the header file after completing the compilation.

chmod 777 ./compile_commands.sh && ./compile_commands.sh

Reference

hybrid A*
decompROS

---

更新日志

Version-1

...

Version-2

问题涉及到的约束有：
x,y,theta,gamma：走廊约束
gamma、omega、v、a、jerk的边界约束
dt时间的正则约束dt>0，必须严格大于0

~2024.5.13

使用f=e^x把走廊（x,y）不等式约束变变为代价添加到代价函数中
求解时间在20m在500ms左右，长距离50m可能在1~3s不等甚至更多。总体不会超过4s

2024.5.15

1. 将dt时间使用微分同胚映射到 (-inf,inf),从而消除时间约束
2. 走廊Ax < b,使用f=e^x障碍函数添加到代价中，消除走廊约束
3. gamma、omega、v、a、jerk,f=e^x障碍函数添加到代价中，消除边界约束 ==>求解时间50m在1-2s，一般50m以下求解时间最多一秒。20m在100ms-300ms之间，如果要求比较复杂求解时间可能更长。

最后这是一个只有两点边界约束问题，IPOPT求解

Version-dev 【维护中】

2024.xx.xx~

1. 解析推导梯度、Hessian
2. 改进罚函数和微分同胚变换
3. 代码优化
4. 求解

• LBFGS求解【测试优化中】
• casadi自动微分+ipopt求解 ==>求解时间50m在300ms左右，20m在100ms以下，如果要求比较复杂求解时间可能略长。 适合用于局部规划控制器。

提上日程

1. 针对铰接模型设计粗解求解器 ==》 减轻后端优化的计算负载
2. 轨迹Minco曲线参数化 ==》曲线参数化加强求解稳定性、加速求解