Priority-Based Trajectory Planning for Networked Vehicles Using Motion Primitives

• Priority-Based Trajectory Planning for Networked Vehicles Using Motion Primitives
• Setup
  • MATLAB R2022a
  • System Requirements for MATLAB ROS 2 Toolbox
• References
• Acknowledgements

Setup

MATLAB R2022a

Install MATLAB R2022a with the following toolboxes:

• Statistics and Machine Learning Toolbox
• ROS Toolbox

System Requirements for MATLAB ROS 2 Toolbox

In our priority-based trajectory planning, vehicles communicate using the MATLAB ROS 2 toolbox. Their custom messages are compiled with the MATLAB built-in function ros2genmsg(), for which you must have Python software, CMake software, and a C++ compiler for your platform (ROS Toolbox Requirements).
For MATLAB R2022a

1. Python 3.9
   1. Install Python 3.9 and add it to your system path variable.
   2. Go to the MATLAB command window and execute pyenv('Version','version') to set up Python with MATLAB. For example, pyenv('Version','3.9') will let MATLAB use Python 3.9. If MATLAB cannot find the version, provide its path with pyenv('Version','fullPathOfYourPythonInstallFolder\YourPythonExecutable').
2. CMake 3.16.3+
   1. Install from https://cmake.org/download/
3. C++ compiler
   1. Installation
      • Windows: Install the Visual Studio 2019 Community Edition. The (free) community version is sufficient. Select "Desktop development with C++" during the installation.
   2. Configure your C++ compiler using mex -setup in the MATLAB command window.

References

Please refer to the respective publication if you are using it for your work. Thank you very much!

P. Scheffe, M. V. A. Pedrosa, K. Flaßkamp and B. Alrifaee, "Receding Horizon Control Using Graph Search for Multi-Agent Trajectory Planning," in IEEE Transactions on Control Systems Technology, 2022, doi: 10.1109/TCST.2022.3214718.

The results of the publication can be reproduced by running

startup()
eval_rhgs()

The results are saved in the folder "results".

References in Bibtex format

```bibtex @article{scheffe2022receding, author = {Patrick Scheffe and Matheus Vitor de Andrade Pedrosa and Kathrin Flaßkamp and Bassam Alrifaee}, journal = {IEEE Transactions on Control Systems Technology}, title = {Receding Horizon Control Using Graph Search for Multi-Agent Trajectory Planning}, year = {2022}, volume = {}, number = {}, pages = {1-14}, doi = {10.1109/TCST.2022.3214718}} } ```

Acknowledgements

This research is supported by the Deutsche Forschungsgemeinschaft (German Research Foundation) within the Priority Program SPP 1835 "Cooperative Interacting Automobiles" (grant number: KO 1430/17-1).