PolySAP

Polygon Decomposition for Obstacle Representation in MPC-based Motion Planning

Prerequisites

• Install Acados and make sure that it works by testing examples in exampls/acados_python

Tested

• Ubuntu 20.04 , 18.04

Run

• Replace <acados_dir> in env.sh with the directory of acados folder
• $ source env.sh
• $ python3 test_solver_polysap.py

Example

Result of example for testing PolySAP optimization solvers.