# OBCA_test

**Repository Path**: kin-zhang/obca_test

## Basic Information

- **Project Name**: OBCA_test
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: GPL-3.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-11-24
- **Last Updated**: 2021-11-24

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# OBCA
原分支见release，默认分支正在进行版本更新，虽然把错误都改过来了 但是好像无法求解出结果。

后面有下载了一波0.6.0 的julia但是那个版本的julia package已经不更新了 甚至不能拉下来下载。 等待... 修bug吧 虽然从整个过程中来讲应该没啥问题

Optimization-Based Collision Avoidance - a path planner for autonomous navigation

Paper describing the theory can be found [here](http://arxiv.org/abs/1711.03449).

*Note*: An OBCA version specialized towards autonomous parking can be found at [H-OBCA](https://github.com/XiaojingGeorgeZhang/H-OBCA).

## Short Description
OBCA is a novel method for formulating collision avoidance constraints. It provides a smooth reformulation of collision avoidance constraints, allowing the use of generic non-linear optimization solvers. 

OBCA can be used to in path planning algorithms to generate *high-quality paths* that satisfy the system dynamics as well as satefy constraints. We provide [Julia](https://julialang.org/)-based implementations for a quadcopter navigation problem and for autonomous parking problems.

## Examples


### OBCA for Quadcopter Navigation
<img src="https://github.com/XiaojingGeorgeZhang/OBCA/blob/master/images/TrajQuad_3D_Video.gif" width="700" />

### OBCA for Autonomous Parking 

#### Backwards Parking
<img src="https://github.com/XiaojingGeorgeZhang/OBCA/blob/master/images/TrajBack_ParkingVideo.gif" width="700" />

#### Parallel Parking
<img src="https://github.com/XiaojingGeorgeZhang/OBCA/blob/master/images/TrajPar_ParkingVideo.gif" width="700" />

#### Parking of Truck with Trailer
<img src="https://github.com/XiaojingGeorgeZhang/OBCA/blob/master/images/TrajTrailer_ParkingVideo.gif" width="700" />