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论文与完整源程序_电网论文源程序的博客-CSDN博客https://blog.csdn.net/liang674027206/category_12531414.html
四轮车辆轨迹规划是一个关键的研究领域,涉及如何为四轮转向车辆设计高效、安全的行驶路径。该项目与Zexu的硕士论文密切相关,重点探讨了在复杂环境中进行轨迹规划的方法和算法。
轨迹规划不仅需要考虑车辆的动力学特性,还要综合评估障碍物、道路几何形状及环境变化等因素。 在该项目中,Zexu可能采用了多种算法,如A*、Dijkstra或基于优化的路径规划方法,以实现最佳轨迹。同时,考虑到四轮转向系统的特性,可能会涉及到车辆运动模型的建立和实时控制策略的应用。
此外,项目还可能探索如何平衡轨迹的平滑性和安全性,以确保车辆在执行规划时的稳定性。 总之,四轮车辆轨迹规划不仅是自动驾驶和智能交通系统的基础,还对提高行驶效率、降低事故风险具有重要意义。这项研究将为未来的智能交通解决方案提供理论基础和实践指导。
部分代码展示:
function poses_c = frenet2cartesian(poses_f, path)
% Description: coordiante transformation from curvilinear frenet frame to
% cartesian
% input:
% poses_f - matrix of poses in the curviliear frame (each row is a pose)
% path - path in cartesian coordinates (each row is a point [X,Y] )
% output:
% poses_c - matrix of poses in cartesian coordinates (each row is a pose)
% note: this function assumes a path of equidistant points of a
% sufficiently fine discretization
[N,~] = size(poses_f);
% compute S
[path_S, dX, dY, theta_c, ~] = getPathProperties(path);
% [path_S, dX, dY] = getSfromCartesianPath(path(:,1), path(:,2));
% compute tangent (as a function of S)
% theta_c = atan2(dY, dX);% + pi/2; % normaliza to [-pi pi] ?
% debug fig
%figure; plot(path_S, theta_c,'r*')
%xlabel('S')
%ylabel('theta_c')
% interpolate to compute the X, Y and theta_c of the T-frame (inria paper notation)
theta_c_poses = interp1(path_S,theta_c,poses_f(:,1), 'linear', 'extrap');
X_T_poses = interp1(path_S,path(:,1),poses_f(:,1), 'linear', 'extrap'); % if X or Y < 0 , set to 0
Y_T_poses = interp1(path_S,path(:,2),poses_f(:,1), 'linear', 'extrap');
X_poses = zeros(1,N);
Y_poses = zeros(1,N);
psi_poses = zeros(1,N);
% transform poses to cartesian
for i = 1:N
eyi = poses_f(i,2);
psi_fi = poses_f(i,3);
theta_ci = theta_c_poses(i);
XTi = X_T_poses(i);
YTi = Y_T_poses(i);
Xi = XTi - eyi*sin(theta_ci);
Yi = YTi + eyi*cos(theta_ci);
X_poses(i) = Xi;
Y_poses(i) = Yi;
psi_poses(i) = psi_fi;%+theta_ci-pi/2;
end
poses_c= [X_poses' Y_poses' psi_poses'];
效果展示:
191号资源-源程序:四轮车辆轨迹规划-本人博客有解读资源-CSDN文库https://download.csdn.net/download/LIANG674027206/89788256 👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆下载资源链接👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆
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