[s2024 dynamics] Implement curvature based speed parameterization function #93
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This commit introduces the curvature_based_speed_parameteriz() function in `trajectory.py` and adds a new configuration file `curvature_based_speed_parameterize.yaml` under `GEMstack/knowledge/defaults`. The CBSP function is designed to modulate vehicle speeds based on path curvature to enhance navigation accuracy and safety. - The new `curvature_based_speed_parameterize.yaml` file contains default settings for the CBSP. - Updates in `trajectory.py` include the implementation of the CBSP function which dynamically adjusts speeds based on the calculated curvature of the trajectory.
Andy-Chen-design
requested review from
krishauser,
hangcui1201,
cjjmonica and
venom12138
as code owners
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Report also added inside the group 8's google drive folder "final presentations and reports". Link of demo video is also attached inside the report. |
krishauser
requested changes
May 12, 2024
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This commit introduces the curvature_based_speed_parameteriz() function in
trajectory.pyand adds a new configuration filecurvature_based_speed_parameterize.yamlunderGEMstack/knowledge/defaults. The CBSP function is designed to modulate vehicle speeds based on path curvature to enhance navigation accuracy and safety.curvature_based_speed_parameterize.yamlfile contains default settings for the CBSP.trajectory.pyinclude the implementation of the CBSP function which dynamically adjusts speeds based on the calculated curvature of the trajectory.Report for this function is attached:
Report for curvature base speed parameterize.pdf
Demo video is provided: https://drive.google.com/file/d/1M9KnoV8lZueuzq20smS-EN8Mx9GSII2N/view?usp=drive_link