自动驾驶规划中使用OSQP进行二次规划

自动驾驶规划中使用OSQP进行二次规划

1. 引言

自动驾驶中, QP被用作曲线的平滑, 通过对路径曲线的平滑保证控制实现的可行性, 通过对速度曲线的平滑保证乘车的舒适性.

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2. 相关数学概念

// the location of file: /usr/local/include/osqp/types.h
typedef struct {
  c_int    n; ///< number of variables n
  c_int    m; ///< number of constraints m
  csc     *P; ///< the upper triangular part of the quadratic cost matrix P
  csc     *A; ///< linear constraints matrix A in csc format (size m x n)
  c_float *q; ///< dense array for linear part of cost function (size n)
  c_float *l; ///< dense array for lower bound (size m)
  c_float *u; ///< dense array for upper bound (size m)
} OSQPData;

3. OSQP的安装和使用

3.1 OSQP的安装

git clone --recursive https://github.com/osqp/osqp
cd osqp
mkdir build
cd build
cmake --build . --target install

3.2 OSQP的使用例子

OSQP的例子可以在下载下的源码中找到: osqp>examples>osqp_demo.c.

#include "osqp.h"


int main(int argc, char **argv) {
  // Load problem data
  c_float P_x[3] = { 4.0, 1.0, 2.0, };
  c_int   P_nnz  = 3;
  c_int   P_i[3] = { 0, 0, 1, };
  c_int   P_p[3] = { 0, 1, 3, };
  c_float q[2]   = { 1.0, 1.0, };
  c_float A_x[4] = { 1.0, 1.0, 1.0, 1.0, };
  c_int   A_nnz  = 4;
  c_int   A_i[4] = { 0, 1, 0, 2, };
  c_int   A_p[3] = { 0, 2, 4, };
  c_float l[3]   = { 1.0, 0.0, 0.0, };
  c_float u[3]   = { 1.0, 0.7, 0.7, };
  c_int n = 2;
  c_int m = 3;

  // Exitflag
  c_int exitflag = 0;

  // Workspace structures
  OSQPWorkspace *work;
  OSQPSettings  *settings = (OSQPSettings *)c_malloc(sizeof(OSQPSettings));
  OSQPData      *data     = (OSQPData *)c_malloc(sizeof(OSQPData));

  // Populate data
  if (data) {
    data->n = n;
    data->m = m;
    data->P = csc_matrix(data->n, data->n, P_nnz, P_x, P_i, P_p);
    data->q = q;
    data->A = csc_matrix(data->m, data->n, A_nnz, A_x, A_i, A_p);
    data->l = l;
    data->u = u;
  }

  // Define solver settings as default
  if (settings) osqp_set_default_settings(settings);

  // Setup workspace
  exitflag = osqp_setup(&work, data, settings);

  // Solve Problem
  osqp_solve(work);

  // Clean workspace
  osqp_cleanup(work);
  if (data) {
    if (data->A) c_free(data->A);
    if (data->P) c_free(data->P);
    c_free(data);
  }
  if (settings)  c_free(settings);

  return exitflag;
}

CMakeLists.txt可以参考官网Wiki.

cmake_minimum_required(VERSION 3.10)

# set the project name
project(OSQP)

# add the executable
add_executable(OSQP osqp_example.c)

# Find OSQP library and headers
find_package(osqp REQUIRED)

# Link the OSQP shared library
target_link_libraries(OSQP PRIVATE osqp::osqp)

最后运行的结果如下: