Codes for Trajectory Optimization of Tractor-trailer Vehicles in Clustered Environments

A Very Precise Tractor-trailer Vehicle Trajectory Optimizer

This code is for trajectory planning of tractor-trailer vehicles. The key features are as follows.
(1) The descriptions of kinematics and environments (e.g., collision avoidance conditions) are precise. There is none abstraction and none approximation at all.
(2) We pursue for optimal results, rather that only feasible ones.
(3) The model ensures the constraint satisfactions between adjacent rough mesh points. On the basis of accurate penalty functions, large-scale constraints are successfully incorporated into the optimization criterion, thus transforming the dynamic optimization problem into a static one with simple bounds on the decision variables.
(4) A metaheuristic method is adopted as the optimizer. Through this, global optimization ability can be guaranteed.
(5) This code can be extended to consider various kinds of optimization objectives. It is in fact a unified framework.
The only drawback is the time consumption. It takes time to run this code before satisfying results are obtained. This point can be improved a lot. Interested readers can refer to the following article for more details.
Bai Li and Zhijiang Shao, "Precise Trajectory Optimization for Articulated Wheeled Vehicles in Cluttered Environments", Advances in Software Engineering, Jan. 2016.
http://www.dx.doi.org/10.1016/j.advengsoft.2015.10.008
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