motionPlanner
plan a verified trajectoy with a Maneuver Automaton
Contents
Syntax
ind = motionPlanner(obj,x0,goalSet,statObs,dynObs,search,costFun)
ind = motionPlanner(obj,x0,goalSet,statObs,dynObs,search,costFun,goalFun)
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') |
|
costFun |
custom cost function for A*-search. |
|
goalFun |
custom goal check function |
Output Arguments
|
ind |
vector storing the indices of the motion primitives that are concatanated to obtain the verified trajectory |
See Also
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