# accOpt

**Repository Path**: paddleli/accOpt

## Basic Information

- **Project Name**: accOpt
- **Description**: Online time optimal trajectory generation for bounded vel and acc 
- **Primary Language**: Matlab
- **License**: BSD-3-Clause
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2022-03-27
- **Last Updated**: 2022-03-27

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Online Trajectory Generation
Online trajectory generation with bounded velocity and acceleration. Works for multiple direction case.

Dependency: Robotics Toolbox for MATLAB (Peter Corke) http://petercorke.com/wordpress/toolboxes/robotics-toolbox

## Instruction on running demo in MATLAB:

### Rename folder to `accOpt`

the folder structure should look like

    .
    ├── accOpt
    │   ├── acc_optimal
    │   ├── RobClass
    │   ├── Utils
    │   ├── judp.m
    │   ├── LICENSE
    │   └── README.md
### Add path

    >> addpath(genpath('./accOpt'));
    
### Construct robot object for visualization
    >> rob = RobVizLRMate;
    
###  Initialize visualization

    >> rob.InitPlot;
    
### Run trajectory generation simulation

determine maximum linear velocity `Vm`, maximum linear acceleration `Am`, and sampling time `dt`

    >> rob.anim( Vm, Am, dt );
    
e.g. Vm=1 m/s, Am=10 m/s^2, dt=1/30 s, use `rob.anim(1,10,1/30);`

then drag blue ball using mouse. The robot should try to reach the blue ball with Vm and Am in real time. Orientation will be determined automatically. 

<p align="center">
    <img src="demo.gif", width="360">
</p>

### Terminate simulation by pressing the ESC key in the figure window

====

License: BSD (https://github.com/yzhao334/accOpt/blob/master/LICENSE)