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License: GNU General Public License v3.0
Hierarchical Optimization-Based Collision Avoidance - a path planner for autonomous parking
License: GNU General Public License v3.0
Hi, I think your method is brilliant! However, I think it will work only in a static environment. It calculates the parking trajectory after the driver finds a parking spot and stops the car nearly. So what would happen if there are some dynamic obstacles? If the planning is quickly enough, maybe we can update the map and environment with dynamic obstacles' new pose, but this planning method usually runs for several seconds.
Hope for your help! Thanks!
Julia's 0.6 version of Pkg.add is not available, and there is no way on the Internet to change the source of julia0.6. I can try running this program with julia 1.2, but there are a lot of bugs in the code. Is there a way to replace the source of julia 0.6 Pkg.add or fix the bug with code below 1.2?
the bug under julia 1.2 is follow
"
ERROR: LoadError: MethodError: no method matching -(::Matrix{Int64}, ::Int64)
For element-wise subtraction, use broadcasting with dot syntax: array .- scalar
Closest candidates are:
-(::T, ::T) where T<:Union{Int128, Int16, Int32, Int64, Int8, UInt128, UInt16, UInt32, UInt64, UInt8} at int.jl:86
-(::Union{MathOptInterface.ScalarAffineFunction{T}, MathOptInterface.ScalarQuadraticFunction{T}}, ::T) where T at /home/autolab/.julia/packages/MathOptInterface/GzkIy/src/Utilities/functions.jl:1804
-(::VectorizationBase.VecUnroll{N, W, T, VectorizationBase.MM{W, X, T}}, ::Union{Int16, Int32, Int64, Int8, UInt16, UInt32, UInt64, UInt8}) where {N, W, T<:Union{Int16, Int32, Int64, Int8, UInt16, UInt32, UInt64, UInt8}, X} at /home/autolab/.julia/packages/VectorizationBase/e4FnQ/src/base_defs.jl:103
...
Stacktrace:
[1] top-level scope
@ ~/parking/H-OBCA/main.jl:85
[2] include(fname::String)
@ Base.MainInclude ./client.jl:444
[3] top-level scope
@ REPL[13]:1
in expression starting at /home/autolab/parking/H-OBCA/main.jl:85
"
""
Hello, Mr. Zhang,
Nice to communicate with you. I'm an software engineer, focused on APA and other autonumous driving technics. and recently, I wanna use h-obca to optimize the parking trajectory which is planned by hybrid a star algorithm.
after computing, the optimized path may have collision with obstacles. I have no idea how to avoid the collision by tunning the parameter of constrains. could you give me some advices on this question? thanks in advance.
btw, the apollo team implement the tdr-obca algorithm base on h-obca, and their source code is written in C++. it seems h-obca is one of the potential and powerful algorithm in path optimization.
have a nice day.
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