readme 1011 Bytes
Newer Older
Matthias Rungger's avatar
Matthias Rungger committed
1

2
A path planning problem for a vehicle using the bycicle model
Matthias Rungger's avatar
Matthias Rungger committed
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24

1. compile the vehicle.cc file

  a) edit the Makefile and adjust the CUDDPATH to the location where the cudd library is installed.

  b) you should be able to compile the program simply by

  $ make

2. execute 

  $./vehicle

  which produces

  ./vehicle_ss.bdd
  ./vehicle_obst.bdd
  ./vehicle_target.bdd
  ./vehicle_controller.bdd

3. simulate the closed loop in Matlab 

25
  a) you need to compile the mexfile first (see the readme in $(SCOTSROOT)/mfiles/mexfiles )
Matthias Rungger's avatar
Matthias Rungger committed
26
27
28

  b) in Matlab add the path and run the simulation 

Matthias Rungger's avatar
Matthias Rungger committed
29
   >> addpath(genpath('../../../mfiles'))
30
   >> vehicle
Matthias Rungger's avatar
Matthias Rungger committed
31
32
33
34
35
36
37
38
39

4. information on the example are found in

- Reissig, G., Weber, A., & Rungger, M. (2015). Feedback Refinement Relations
  for the Synthesis of Symbolic Controllers. arXiv preprint arXiv:1503.03715.

- Zamani, M., Pola, G., Mazo, M., & Tabuada, P. (2012). Symbolic models for
  nonlinear control systems without stability assumptions. IEEE TAC, 57(7),
  1804-1809.