Optimal Parking Series Summary - From Sampling to Optimized Trajectory
A compact map of the Optimal Parking planner, from the kinematic bicycle model and RRT* seed to sequential QP refinement and browser execution.
3 docs tagged with "trajectory-optimization"
View all tagsOptimal Parking, Part 3 - Optimal Control and Trajectory Optimization
The optimal-control formulation behind parking trajectories, including cost functions, constraints, MPC, and the role of SQP.
Optimal Parking, Part 4 - Sequential Quadratic Programming
How the planner refines an initial route through sequential quadratic programs solved with OSQP.