spline-trajectory-optimization

Spline-based Trajectory Optimization tool for Autonomous Racing (Indy Autonomous Challenge)

Install

1. Install SciPy, matplotlib, shapely, pandas
2. Install Julia 1.8.5+.
3. Clone this repository and install with pip install -e ..

Run

Run julia/spline_traj_opt.ipynb.

Repository Organization

• spline_traj_optm/examples: Example inputs for the trajectory optimization (Monza)
• spline_traj_optm/models: Data classes for holding optimization information (race track, vehicle, and trajectory information)
• spline_traj_optm/optimization: Optimization functions
• spline_traj_optm/simulator: Quasi-Steady State (QSS) simulation of a given trajectory for optimal speed
• spline_traj_optm/tests: Tests for the package
• spline_traj_optm/visualization: Functions for visualization the optimization and simulation results
• julia/spline_traj_opt.ipynb: Julia notebook of the optimization notebook
• julia/utils/find_center_line.py: Python file for generating center line, given the inner and outer track boundaries (CSV files) as inputs.