Optimization-Based Collision Avoidance - a path planner for autonomous navigation
Paper describing the theory can be found here.
Note1: An OBCA version specialized towards autonomous parking can be found at H-OBCA.
Note2: This fork is for running codes on Julia v1.5.2 (the original repo by the authors is tested on Julia v0.5 and v0.6). Note that above H-OBCA repo is an original repo by the authors.
OBCA is a novel method for formulating collision avoidance constraints. It provides a smooth reformulation of collision avoidance constraints, allowing the use of generic non-linear optimization solvers.
OBCA can be used to in path planning algorithms to generate high-quality paths that satisfy the system dynamics as well as satefy constraints. We provide Julia-based implementations for a quadcopter navigation problem and for autonomous parking problems.
