hanjinli2023/accopt

Online time optimal trajectory generation for bounded vel and acc

Online Trajectory Generation

Online trajectory generation with bounded velocity and acceleration. Works for multiple direction case.

Dependency: Robotics Toolbox for MATLAB (Peter Corke) http://petercorke.com/wordpress/toolboxes/robotics-toolbox

Instruction on running demo in MATLAB:

Rename folder to accOpt

the folder structure should look like

.
├── accOpt
│   ├── acc_optimal
│   ├── RobClass
│   ├── Utils
│   ├── judp.m
│   ├── LICENSE
│   └── README.md

Add path

>> addpath(genpath('./accOpt'));

Construct robot object for visualization

>> rob = RobVizLRMate;

Initialize visualization

>> rob.InitPlot;

Run trajectory generation simulation

determine maximum linear velocity Vm, maximum linear acceleration Am, and sampling time dt

>> rob.anim( Vm, Am, dt );

e.g. Vm=1 m/s, Am=10 m/s^2, dt=1/30 s, use rob.anim(1,10,1/30);

then drag blue ball using mouse. The robot should try to reach the blue ball with Vm and Am in real time. Orientation will be determined automatically.

Terminate simulation by pressing the ESC key in the figure window

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License: BSD (https://github.com/yzhao334/accOpt/blob/master/LICENSE)