PY_OBCA

pyobca is a python implement of Optimization-Based Collision Avoidance path optimization

for more detail about the algorithm can be found in this paper OBCA

How to run

1. create virtual environment

   conda create --name pyobca python=3.9

   conda activate pyobca

2. install required packages

   pip install -r requirements.txt

3. run example

   cd py_obca/example

   python example_perpendicular.py

Example result

Todo

improve initial search speed by different algorithm