CoTiMo Planner

Collision-Free Smooth Path Generation + Time Optimal Path Parameterization + Model Predictive Control

Getting Started

1. Start the container environment: docker compose up -d
2. Run the demo script: ./quick_test.sh

Reference

• D. Verscheure, B. Demeulenaere, J. Swevers, J. De Schutter, and M. Diehl, “Time-Optimal Path Tracking for Robots: A Convex Optimization Approach,” IEEE Trans. Automat. Contr., vol. 54, no. 10, pp. 2318–2327, Oct. 2009, doi: 10.1109/TAC.2009.2028959.
• github.com/ZJU-FAST-Lab/SDQP
• github.com/ZJU-FAST-Lab/LBFGS-Lite/