This repo contains implementations of convex feasible set algorithm (CFS).
Refer to the following paper for details about the CFS algorithm
C. Liu, C. Lin, and M. Tomizuka, "The convex feasible set algorithm for real time optimization in motion planning," arXiv:1709.00627.
This folder contains the implementation for a 2D problem.
install multi-parametric toolbox first
run main_CFS.m to see the result below
This folder contains the implementation for a robot arm.
run main_CFS.m to see the result below
It takes a while to finish the 3D plot ...
This folder contains the implementation in C++ on top of Knitro
install Knitro first
cd build
cmake ..
make
The problem is defined in PlanningProblem.h. Some adjustable parameters are loadable from the folder "parameter".
MyCFS solves the problem using CFS.
MyNLNC solves the problem using built-in solvers in Knitro.