采用SQP优化模型在笛卡尔坐标系下实现路径平滑，考虑曲率和运动学约束，通过泰勒展开处理参考点，提升路径平滑效果。【此简介由AI生成】
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path_smooth_with_kappa
This is used for smoothing path. SQP optimization model is established in Cartesian coordinate system.
State space:
In this repo, θ is the bias between the angle of reference point and decision variable. k is the curvature. In this model, speed is considered as an constant value, is therefore replaced by a constant distance ds.
- Objective function:
- Constraints:
In the kinematic model constrians, Taylor expansion is used based on reference points.
As shown in figure below, SQP is the smoothing result, where IHA* represents the original path.
