motionPlanner

plan a verified trajectoy with a Maneuver Automaton

Contents

Syntax

ind = motionPlanner(obj,x0,goalSet,statObs,dynObs,search)

Description

This function solves a control task by planning a verified trajectoy with a Maneuver Automaton. In particular, the verified trajectory avoids the static and dynamic obstacles and drives the system to the goal set.

Input Arguments

obj

Maneuver automaton (class: maneuverAutomaton)

x0

initial state

goalSet

goal set which should be reached

statObs

cell-array storing the static obstacles

dynObs

cell-array storing the dynamic obstacles

search

search algorithm to be used ('breadth-first', ...; 'depth-first', or 'Astar')

Output Arguments

ind

vector storing the indices of the motion primitives that are concatanated to obtain the verified trajectory

See Also

maneuverAuotomaton


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