From 078eb1d0fc290f57eb45fcfc55f8d42feaf899fc Mon Sep 17 00:00:00 2001 From: Atsushi Sakai Date: Wed, 13 Dec 2017 13:55:29 -0800 Subject: [PATCH] updated README --- README.md | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) diff --git a/README.md b/README.md index 316e3342..96627351 100644 --- a/README.md +++ b/README.md @@ -195,6 +195,25 @@ A sample code with Reeds Shepp path planning. ![PythonRobotics/figure_1-5.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/ReedsSheppPath/figure_1-5.png?raw=true) ![PythonRobotics/figure_1-5.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/ReedsSheppPath/figure_1-7.png?raw=true) +## Mix Integer Optimization based model predictive planning and control + +![2](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/MixIntegerPathPlanning/animation.gif) + +A model predictive planning and control code with mixed integer programming. + +It is based on this paper. + +- [MIXED INTEGER PROGRAMMING FOR MULTI-VEHICLE PATH PLANNING](http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.4.2591&rep=rep1&type=pdf) + +This code used cvxpy as optimization modeling tool, + +- [Welcome to CVXPY 1\.0 — CVXPY 1\.0\.0 documentation](https://cvxgrp.github.io/cvxpy/index.html) + +and Gurobi is used as a solver for mix integer optimization problem. + +- [Gurobi Optimization \- The State\-of\-the\-Art Mathematical Programming Solver](http://www.gurobi.com/) + + # Path tracking Path tracking algorithm samples.