Hello All;
Now I am working on a UGV equipped with a Lidar sensor, based on the detected region I make convex partitioning. I define the constraints so that the car should move in one of the convex partitions. Imagine the car is at time t_1 and you have 2 convex partitions that you need the car to move in. The optimizer should find the states in partition 1 and the time to switch to the second partition and then find the state trajectory in the second partition/phase, such that the time the car spent in phase1+time spent in phase 2 must equal the total prediction length. Now the problem becomes multiphase OCP.
My question is, how can I formulate this kind of problem using ACADO?
Thanks
Last edit: Mohamed Abdalla Mohamed Soliman 2021-03-17
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Hello All;
Now I am working on a UGV equipped with a Lidar sensor, based on the detected region I make convex partitioning. I define the constraints so that the car should move in one of the convex partitions. Imagine the car is at time t_1 and you have 2 convex partitions that you need the car to move in. The optimizer should find the states in partition 1 and the time to switch to the second partition and then find the state trajectory in the second partition/phase, such that the time the car spent in phase1+time spent in phase 2 must equal the total prediction length. Now the problem becomes multiphase OCP.
My question is, how can I formulate this kind of problem using ACADO?
Thanks
Last edit: Mohamed Abdalla Mohamed Soliman 2021-03-17