Fast Time-Optimal Motion Planning for Holonomic Vehicles in Structured Environments using Parametric Motion Primitives

This repository contains code to compute time-optimal trajectories for holonomic vehicles with low computation time. The user defines a set of parameters describing the vehicle and an environment to plan in.

Overview of the approach

The motion planner constructs a corridor sequence simplifying the environment representation and will plan a dynamically feasible trajectory through these corridors. This can be done either using an OCP-solver or using the parametric motion primitives. Based on heuristics and the corridor layout, these motion primitives represent the solution up to some degrees of freedom. These are fixed by solving an optimization problem.

Validation of the approach

Getting started

Installation instructions are coming soon