Generating Large-Scale Trajectories Efficiently using Double Descriptions of Polynomials
This is a high-performance large-scale trajectory optimizer. It achieves almost the same trajectory quality as the global trajectory optimizer in Teach-Repeat-Replan while using significantly less computation time. The source code will be released.
Related Paper: Generating Large-Scale Trajectories with Polynomial Double Descriptions (video)
(Submitted to ICRA2021. ArXiv version is coming soon.)
Author: Zhepei Wang and Fei Gao from the ZJU Fast Lab.