QP样条路径优化器
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二次编程+样条插值
1.目标函数
1.1获取路径长度
路径在站点横向协调系统中定义。在小号范围从车辆的当前位置到默认的规划路径长度。
1.2获取样条线段
将路径分成n个段。每个线段轨迹由多项式定义。
1.3为每个样条线段定义功能
每个段我都有累积距离d一世沿参考线。默认情况下,线段的轨迹定义为次数为5的多项式。
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l = f_i(s) = a_ {i0} + a_ {i1} \ cdot s + a_ {i2} \ cdot s ^ 2 + a_ {i3} \ cdot s ^ 3 + a_ {i4} \ cdot s ^ 4 + a_ {i5} \ cdot s ^ 5(0 \ leq s \ leq d_ {i})
l=fi(s)=ai0+ai1 cdots+ai2 cdots2+ai3 cdots3+ai4 cdots4+ai5 cdots5(0 leqs leqdi)
1.4为每个细分定义优化的目标函数
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cost = \ sum_ {i = 1} ^ {n} \ Big(w_1 \ cdot \ int \ limits_ {0} ^ {d_i}(f_i')^ 2(s)ds + w_2 \ cdot \ int \ limits_ {0} ^ {d_i}(f_i'')^ 2(s)ds + w_3 \ cdot \ int \ limits_ {0} ^ {d_i}(f_i ^ {\ prime \ prime \ prime})^ 2(s) ds \ Big)
cost= sumi=1n Big(w1 cdot int limits0di(fi′)2(s)ds+w2 cdot int limits0di(fi′′)2(s)ds+w3 cdot int limits0di(fi prime prime prime)2(s)ds Big)
1.5将成本函数转换为QP公式
QP公式:
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\ begin {aligned} 最小化&\ frac {1} {2} \ cdot x ^ T \ cdot H \ cdot x + f ^ T \ cdot x \\ st \ qquad和LB \ leq x \ leq UB \\ &A_ {eq} x = b_ {eq} \\ &Ax \ geq b \ end {aligned}
beginaligned最小化& frac12 cdotxT cdotH cdotx+fT cdotxst qquad和LB leqx leqUB&Aeqx=beq&Ax geqb endaligned
以下是将成本函数转换为QP公式的示例。
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f_i(s)= \ begin {vmatrix} 1&s&s ^ 2&s ^ 3&s ^ 4&s ^ 5 \ end {vmatrix} \ cdot \ begin {vmatrix} a_ {i0} \\ a_ {i1} \\ a_ {i2} \\ a_ {i3} \\ a_ {i4} \\ a_ {i5} \ end {vmatrix}
fi(s)= beginvmatrix1&s&s2&s3&s4&s5 endvmatrix cdot beginvmatrixai0ai1ai2ai3ai4ai5 endvmatrix
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f_i'(s)= \ begin {vmatrix} 0&1&2s&3s ^ 2&4s ^ 3&5s ^ 4 \ end {vmatrix} \ cdot \ begin {vmatrix} a_ {i0} \\ a_ { i1} \\ a_ {i2} \\ a_ {i3} \\ a_ {i4} \\ a_ {i5} \ end {vmatrix}
fi′(s)= beginvmatrix0&1&2s&3s2&4s3&5s4 endvmatrix cdot beginvmatrixai0ai1ai2ai3ai4ai5 endvmatrix
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f_i'(s)^ 2 = \ begin {vmatrix} a_ {i0}&a_ {i1}&a_ {i2}&a_ {i3}&a_ {i4}&a_ {i5} \ end {vmatrix} \ cdot \ begin {vmatrix} 0 \\ 1 \\ 2s \\ 3s ^ 2 \\ 4s ^ 3 \\ 5s ^ 4 \ end {vmatrix} \ cdot \ begin {vmatrix} 0&1&2s&3s ^ 2& 4s ^ 3&5s ^ 4 \ end {vmatrix} \ cdot \ begin {vmatrix} a_ {i0} \\ a_ {i1} \\ a_ {i2} \\ a_ {i3} \\ a_ {i4} \\ a_ {i5} \ end {vmatrix}
fi′(s)2= beginvmatrixai0&ai1&ai2&ai3&ai4&ai5 endvmatrix cdot beginvmatrix012s3s24s35s4 endvmatrix cdot beginvmatrix0&1&2s&3s2&4s3&5s4 endvmatrix cdot beginvmatrixai0ai1ai2ai3ai4ai5 endvmatrix
那么我们有
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\ int \ limits_ {0} ^ {d_i} f_i'(s)^ 2 ds = \ int \ limits_ {0} ^ {d_i} \ begin {vmatrix} a_ {i0}&a_ {i1}&a_ { i2}和a_ {i3}和a_ {i4}和a_ {i5} \ end {vmatrix} \ cdot \ begin {vmatrix} 0 \\ 1 \\ 2s \\ 3s ^ 2 \\ 4s ^ 3 \\ 5s ^ 4 \ end {vmatrix} \ cdot \ begin {vmatrix} 0&1&2s&3s ^ 2&4s ^ 3&5s ^ 4 \ end {vmatrix} \ cdot \ begin {vmatrix} a_ {i0} \\ a_ { i1} \\ a_ {i2} \\ a_ {i3} \\ a_ {i4} \\ a_ {i5} \ end {vmatrix} ds
int limits0difi′(s)2ds= int limits0di beginvmatrixai0&ai1&ai2和ai3和ai4和ai5 endvmatrix cdot beginvmatrix012s3s24s35s4 endvmatrix cdot beginvmatrix0&1&2s&3s2&4s3&5s4 endvmatrix cdot beginvmatrixai0ai1ai2ai3ai4ai5 endvmatrixds
在集成之外提取const,我们有
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\ int \ limits_ {0} ^ {d_i} f'(s)^ 2 ds = \ begin {vmatrix} a_ {i0}&a_ {i1}&a_ {i2}&a_ {i3}&a_ {i4 }&a_ {i5} \ end {vmatrix} \ cdot \ int \ limits_ {0} ^ {d_i} \ begin {vmatrix} 0 \\ 1 \\ 2s \\ 3s ^ 2 \\ 4s ^ 3 \\ 5s ^ 4 \ end {vmatrix} \ cdot \ begin {vmatrix} 0&1&2s&3s ^ 2&4s ^ 3&5s ^ 4 \ end {vmatrix} ds \ cdot \ begin {vmatrix} a_ {i0} \\ a_ {i1} \\ a_ {i2} \\ a_ {i3} \\ a_ {i4} \\ a_ {i5} \ end {vmatrix}
int limits0dif′(s)2ds= beginvmatrixai0&ai1&ai2&ai3&ai4&ai5 endvmatrix cdot int limits0di beginvmatrix012s3s24s35s4 endvmatrix cdot beginvmatrix0&1&2s&3s2&4s3&5s4 endvmatrixds cdot beginvmatrixai0ai1ai2ai3ai4ai5 endvmatrix
KaTeX parse error: Undefined control sequence: \开 at position 5: = \̲开̲始{vmatrix} a_ {…
最后,我们有
KaTeX parse error: Undefined control sequence: \开 at position 48: …'_i(s)^ 2 ds = \̲开̲始{vmatrix} a_ {…
请注意,我们得到了一个6 x 6的矩阵来表示5阶样条曲线的衍生成本。
类似的推论也可以用于计算二阶和三阶导数的成本。
2个约束
2.1初始点约束
假设第一点是(s0, 升0), (s0, 升′0)和(s0, 升′′0),在哪里 升0 , 升′0 和 升′′0 是横向偏移量及其在计划路径的初始点上的一阶和二阶导数,并根据 F一世(小号), F′一世(小号)和 F一世(s)′′.
使用以下命令将这些约束转换为QP相等约束:
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A_ {eq} x = b_ {eq}
Aeqx=beq
以下是转换步骤。
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f_i(s_0)= \ begin {vmatrix} 1&s_0&s_0 ^ 2&s_0 ^ 3&s_0 ^ 4&s_0 ^ 5 \ end {vmatrix} \ cdot \ begin {vmatrix} a_ {i0} \\ a_ {i1 } \\ a_ {i2} \\ a_ {i3} \\ a_ {i4} \\ a_ {i5} \ end {vmatrix} = l_0
fi(s0)= beginvmatrix1&s0&s02&s03&s04&s05 endvmatrix cdot beginvmatrixai0ai1ai2ai3ai4ai5 endvmatrix=l0
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f'_i(s_0)= \ begin {vmatrix} 0&1&2s_0&3s_0 ^ 2&4s_0 ^ 3&5 s_0 ^ 4 \ end {vmatrix} \ cdot \ begin {vmatrix} a_ {i0} \\ a_ { i1} \\ a_ {i2} \\ a_ {i3} \\ a_ {i4} \\ a_ {i5} \ end {vmatrix} = l'_0
fi′(s0)= beginvmatrix0&1&2s0&3s02&4s03&5s04 endvmatrix cdot beginvmatrixai0ai1ai2ai3ai4ai5 endvmatrix=l0′
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f''_ i(s_0)= \ begin {vmatrix} 0&0&2&3 \ times2s_0&4 \ times3s_0 ^ 2&5 \ times4s_0 ^ 3 \ end {vmatrix} \ cdot \ begin {vmatrix} a_ {i0} \ \ a_ {i1} \\ a_ {i2} \\ a_ {i3} \\ a_ {i4} \\ a_ {i5} \ end {vmatrix} = l''_ 0
fi′′(s0)= beginvmatrix0&0&2&3 times2s0&4 times3s02&5 times4s03 endvmatrix cdot beginvmatrixai0 ai1ai2ai3ai4ai5 endvmatrix=l0′′
其中i是包含 s0.
2.2终点约束
与初始点相似,终点 (s是,升是) 是已知的,并且应产生与初始点计算中所述相同的约束。
合并起始点和结束点,并将相等约束显示为:
$$
\ begin {vmatrix}
1&s_0&s_0 ^ 2&s_0 ^ 3&s_0 ^ 4&s_0 ^ 5 \
0&1&2s_0&3s_0 ^ 2&4s_0 ^ 3&5s_0 ^ 4 \
0&0&2&3 \ times2s_0& 4 \ times3s_0 ^ 2&5 \ times4s_0 ^ 3 \
1&s_e&s_e ^ 2&s_e ^ 3&s_e ^ 4&s_e ^ 5 \
0&1&2s_e&3s_e ^^ 2&4s_e ^ 3&5s_e ^ 4 \
0& 0&2&3 \ times2s_e&4 \ times3s_e ^ 2&5 \ times4s_e ^ 3
\ end {vmatrix}
\ cdot
\ begin {vmatrix} a_ {i0} \ a_ {i1} \ a_ {i2} \ a_ {i3 } \ a_ {i4} \ a_ {i5} \ end {vmatrix}
\ begin {vmatrix}
l_0 \
l’0 \
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\结束{vmatrix}
$$
2.3联合平滑度约束
设计该约束以平滑花键接头。假设两个细分小号ËG至 和 小号ËGk + 1被连接,并且段的累计s小号ËG至 是 s至。计算约束方程为:
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以下是计算步骤。
$$
\ begin {vmatrix}
1&s_k&s_k ^ 2&s_k ^ 3&s_k ^ 4&s_k ^ 5 \
\ end {vmatrix}
\ cdot
\ begin {vmatrix}
a_ {k0} \ a_ {k1} \ a_ {k2} \ a_ {k3} \ a_ {k4} \ a_ {k5}
\ end {vmatrix}
\ begin {vmatrix}
1&s_ {0}&s_ {0} ^ 2&s_ {0 } ^ 3&s_ {0} ^ 4&s_ {0} ^ 5 \
\ end {vmatrix}
\ cdot
\ begin {vmatrix}
a_ {k + 1,0} \ a_ {k + 1,1} \ a_ {k + 1,2} \ a_ {k + 1,3} \ a_ {k + 1,4} \ a_ {k + 1,5}
\ end {vmatrix}
$$
然后
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\ begin {vmatrix} 1&s_k&s_k ^ 2&s_k ^ 3&s_k ^ 4&s_k ^ 5&-1&-s_ {0}&-s_ {0} ^ 2&-s_ {0} ^ 3& -s_ {0} ^ 4&-s_ {0} ^ 5 \\ \ end {vmatrix} \ cdot \ begin {vmatrix} a_ {k0} \\ a_ {k1} \\ a_ {k2} \\ a_ {k3} \\ a_ {k4} \\ a_ {k5} \\ a_ {k + 1,0} \\ a_ {k + 1,1} \\ a_ {k + 1,2} \\ a_ {k + 1, 3} \\ a_ {k + 1,4} \\ a_ {k + 1,5} \ end {vmatrix} = 0
beginvmatrix1&sk&sk2&sk3&sk4&sk5&−1&−s0&−s02&−s03&−s04&−s05 endvmatrix cdot beginvmatrixak0ak1ak2ak3ak4ak5ak+1,0ak+1,1ak+1,2ak+1,3ak+1,4ak+1,5 endvmatrix=0
采用 s0 = 0在等式中。
类似地计算以下项的相等约束:
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f'_k(s_k)= f'_ {k + 1}(s_0) \\ f''_ k(s_k)= f''_ {k + 1}(s_0) \\ f'''_ k( s_k)= f'''_ {k + 1}(s_0)
fk′(sk)=fk+1′(s0)fk′′(sk)=fk+1′′(s0)fk′′′(sk)=fk+1′′′(s0)
2.4边界约束的采样点
沿路径均匀采样m个点,并检查这些点处的障碍物边界。使用以下方法将约束转换为QP不等式约束:
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首先找到下界 升升b ,Ĵ 在这些时候 (sĴ,升Ĵ) 和 Ĵ ∈ [ 0 ,米]根据道路宽度和周围的障碍物 计算不平等约束为:
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\ begin {vmatrix} 1&s_0&s_0 ^ 2&s_0 ^ 3&s_0 ^ 4&s_0 ^ 5 \\ 1&s_1&s_1 ^ 2&s_1 ^ 3&s_1 ^ 4&s_1 ^ 5 \\ ...&。 ..&...&...&...&... \\ 1&s_m&s_m ^ 2&s_m ^ 3&s_m ^ 4&s_m ^ 5 \\ \ end {vmatrix} \ cdot \ begin {vmatrix } a_ {i0} \\ a_ {i1} \\ a_ {i2} \\ a_ {i3} \\ a_ {i4} \\ a_ {i5} \ end {vmatrix} \ geq \ begin {vmatrix} l_ {lb ,0} \\ l_ {lb,1} \\ ... \\ l_ {lb,m} \\ \ end {vmatrix}
beginvmatrix1&s0&s02&s03&s04&s051&s1&s12&s13&s14&s15...&。..&...&...&...&...1&sm&sm2&sm3&sm4&sm5 endvmatrix cdot beginvmatrixai0ai1ai2ai3ai4ai5 endvmatrix geq beginvmatrixllb,0llb,1...llb,m endvmatrix
同样,对于上限 升ü b ,Ĵ,将不等式约束计算为:
b e g i n v m a t r i x − 1 & − s 0 & − s 0 2 & − s 0 3 & − s 0 4 & − s 0 5 − 1 & − s 1 & − s 1 2 & − s 1 3 & − s 1 4 & − s 1 5 . . . & . . . − & . . . & . . . & . . . & . . . . . . − 1 & − s m & − s m 2 & − s m 3 & − s m 4 & − s m 5 e n d v m a t r i x c d o t b e g i n v m a t r i x a i 0 a i 1 a i 2 a i 3 a i 4 a i 5 e n d v m a t r i x g e q − 1 c d o t b e g i n v m a t r i x l u b , 0 l u b , 1 . . . l u b , m e n d v m a t r i x \ begin {vmatrix} -1&-s_0&-s_0 ^ 2&-s_0 ^ 3&-s_0 ^ 4&-s_0 ^ 5 \\ -1&-s_1&-s_1 ^ 2&-s_1 ^ 3&- s_1 ^ 4&-s_1 ^ 5 \\ ...&...-&...&...&...&... \ ... \\ -1&-s_m&-s_m ^ 2&-s_m ^ 3 &-s_m ^ 4&-s_m ^ 5 \\ \ end {vmatrix} \ cdot \ begin {vmatrix} a_ {i0} \\ a_ {i1} \\ a_ {i2} \\ a_ {i3} \\ a_ {i4 } \\ a_ {i5} \ end {vmatrix} \ geq -1 \ cdot \ begin {vmatrix} l_ {ub,0} \\ l_ {ub,1} \\ ... \\ l_ {ub,m} \\ \ end {vmatrix} beginvmatrix−1&−s0&−s02&−s03&−s04&−s05−1&−s1&−s12&−s13&−s14&−s15...&...−&...&...&...&... ...−1&−sm&−sm2&−sm3&−sm4&−sm5 endvmatrix cdot beginvmatrixai0ai1ai2ai3ai4ai5 endvmatrix geq−1 cdot beginvmatrixlub,0lub,1...lub,m endvmatrix