2026车辆工程一套基于无人方程式赛车的路径规划算法研究11.35-AI13.03(论文+程序代码源码)定稿.zip

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2026-09-18
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收起资源包目录

src
- mpc_ros
  - .git
    - branches
    - hooks
      - applypatch-msg.sample(478 B)
      - commit-msg.sample(896 B)
      - fsmonitor-watchman.sample(3.25 KB)
      - post-update.sample(189 B)
      - pre-applypatch.sample(424 B)
      - pre-commit.sample(1.6 KB)
      - pre-push.sample(1.32 KB)
      - pre-rebase.sample(4.78 KB)
      - pre-receive.sample(544 B)
      - prepare-commit-msg.sample(1.46 KB)
      - update.sample(3.53 KB)
    - info
      - exclude(240 B)
    - logs
      - refs
        heads
        melodic(178 B)
        remotes
        origin
        HEAD(178 B)
      - HEAD(178 B)
    - objects
      - 28
        371dd7aac262d971be0d39ebdb00485900d362(219 B)
      - 29
        7fe0d2ac3dcd4a9c9de55bec402822f649bea3(2.41 KB)
      - 3b
        f144f80fde2f3e365913dfa4f86fe4214ffd6f(337 B)
      - 79
        ce405c5f93e239112932ac43b7913cf2bb734c(55.22 KB)
      - 7f
        479871dfd8ff5da69f11cea69a2f66838f2727(222 B)
      - 86
        74e21f111812fbfa057874762326d746a24ff7(157 B)
      - 8a
        dd4b174545b4b84166b599dc241251cf12d3ff(1.06 KB)
      - df
        36f595f53132f55519643ead3b3fe1ac611c65(184 B)
      - ec
        fe94ec44720e962cec13aa8936f9bb01feeef6(431 B)
      - fa
        7e898d1b85cb4a8702bc5bc02edbf064dc80b5(6.16 KB)
      - info
      - pack
        pack-923afc1f729b083d9a2d0f17f7aee5857d8aea28.idx(49.25 KB)
        pack-923afc1f729b083d9a2d0f17f7aee5857d8aea28.pack(2.39 MB)
    - refs
      - heads
        melodic(41 B)
      - remotes
        origin
        HEAD(33 B)
      - tags
    - config(269 B)
    - description(73 B)
    - HEAD(24 B)
    - index(64.71 KB)
    - packed-refs(1.27 KB)
  - assets
    - document
      - example
        CppAD_Ipopt.cpp(4.64 KB)
        CppAD_started.cpp(4.6 KB)
      - ipopt_install
        ipopt_arm_install_tutorial.md(1023 B)
        ipopt_x86_install_tutorial.md(783 B)
      - photo
        HyphaROS_logo.png(19.46 KB)
        HyphaROS_MiniCar_photo.jpg(109.27 KB)
        HyphaROS_MPC_MiniCar_Simulation.jpg(210.26 KB)
      - udev
        stm32base.rules(170 B)
        udev_install.sh(1014 B)
    - bazi.csv(138.93 KB)
    - cone_position_data.csv(13.07 KB)
    - line.csv(22.82 KB)
    - line_cone.csv(1.17 KB)
    - track.csv(114.68 KB)
  - mpc_ros
    - cfg
      - MPCPlanner.cfg(1.91 KB)
    - include
      - cppad
        core
        abort_recording.hpp(1.6 KB)
        abs.hpp(2.85 KB)
        abs_normal_fun.hpp(23.33 KB)
        acosh.hpp(2.34 KB)
        ad.hpp(8.99 KB)
        add.hpp(2.95 KB)
        add_eq.hpp(2.7 KB)
        ad_assign.hpp(3.08 KB)
        ad_binary.hpp(3.38 KB)
        ad_ctor.hpp(4.2 KB)
        ad_fun.hpp(23.61 KB)
        ad_io.hpp(5.34 KB)
        ad_to_string.hpp(1.81 KB)
        ad_valued.hpp(1.37 KB)
        arithmetic.hpp(1.16 KB)
        asinh.hpp(2.34 KB)
        atan2.hpp(3.32 KB)
        atanh.hpp(2.37 KB)
        atomic_base.hpp(68.15 KB)
        azmul.hpp(5.65 KB)
        base_complex.hpp(12.15 KB)
        base_cond_exp.hpp(7.16 KB)
        base_double.hpp(5.24 KB)
        base_float.hpp(5.22 KB)
        base_hash.hpp(2.38 KB)
        base_limits.hpp(2.1 KB)
        base_std_math.hpp(5.07 KB)
        base_to_string.hpp(1.81 KB)
        bender_quad.hpp(9.51 KB)
        bool_fun.hpp(6.23 KB)
        bool_valued.hpp(1.16 KB)
        capacity_order.hpp(7.22 KB)
        checkpoint.hpp(60.06 KB)
        check_for_nan.hpp(5.9 KB)
        compare.hpp(10.63 KB)
        compound_assign.hpp(3.41 KB)
        cond_exp.hpp(9.17 KB)
        convert.hpp(1.18 KB)
        cppad_assert.hpp(5.97 KB)
        define.hpp(16.68 KB)
        dependent.hpp(9.19 KB)
        discrete.hpp(8.12 KB)
        div.hpp(2.98 KB)
        div_eq.hpp(2.66 KB)
        drivers.hpp(825 B)
        epsilon.hpp(1.46 KB)
        equal_op_seq.hpp(2.91 KB)
        erf.hpp(2.57 KB)
        expm1.hpp(2.32 KB)
        forward.hpp(12.43 KB)
        for_hes_sparsity.hpp(8.81 KB)
        for_jac_sparsity.hpp(8.31 KB)
        for_one.hpp(3.99 KB)
        for_sparse_hes.hpp(15.67 KB)
        for_sparse_jac.hpp(20.72 KB)
        for_two.hpp(6.33 KB)
        fun_check.hpp(5.65 KB)
        fun_construct.hpp(13.53 KB)
        fun_eval.hpp(720 B)
        hash_code.hpp(1.54 KB)
        hessian.hpp(5.09 KB)
        identical.hpp(3.21 KB)
        independent.hpp(4.87 KB)
        integer.hpp(2.72 KB)
        jacobian.hpp(5.69 KB)
        log1p.hpp(2.28 KB)
        lu_ratio.hpp(10.37 KB)
        mul.hpp(3.04 KB)
        mul_eq.hpp(2.89 KB)
        near_equal_ext.hpp(4.93 KB)
        numeric_limits.hpp(5.85 KB)
        num_skip.hpp(3.15 KB)
        old_atomic.hpp(33.01 KB)
        omp_max_thread.hpp(2.58 KB)
        optimize.hpp(9.92 KB)
        opt_val_hes.hpp(13.76 KB)
        ordered.hpp(2.79 KB)
        parallel_ad.hpp(3.6 KB)
        par_var.hpp(2.99 KB)
        pow.hpp(7.22 KB)
        print_for.hpp(5.99 KB)
        reverse.hpp(5.62 KB)
        rev_hes_sparsity.hpp(6.96 KB)
        rev_jac_sparsity.hpp(6.84 KB)
        rev_one.hpp(3.95 KB)
        rev_sparse_hes.hpp(16.97 KB)
        rev_sparse_jac.hpp(16.63 KB)
        rev_two.hpp(6.04 KB)
        sign.hpp(2.54 KB)
        sparse.hpp(1.24 KB)
        sparse_hes.hpp(15.43 KB)
        sparse_hessian.hpp(25.04 KB)
        sparse_jac.hpp(17.57 KB)
        sparse_jacobian.hpp(31.07 KB)
        standard_math.hpp(3.45 KB)
        std_math_98.hpp(14.17 KB)
        sub.hpp(2.76 KB)
        subgraph_jac_rev.hpp(9.58 KB)
        subgraph_reverse.hpp(10.99 KB)
        subgraph_sparsity.hpp(5.87 KB)
        sub_eq.hpp(2.58 KB)
        tape_link.hpp(10.12 KB)
        testvector.hpp(3.5 KB)
        test_vector.hpp(4.05 KB)
        unary_minus.hpp(2.26 KB)
        unary_plus.hpp(1.98 KB)
        undef.hpp(3.87 KB)
        user_ad.hpp(1.96 KB)
        value.hpp(2.15 KB)
        var2par.hpp(1.92 KB)
        vec_ad.hpp(19.96 KB)
        zdouble.hpp(15.51 KB)
        cppad
        core
        abort_recording.hpp(1.6 KB)
        abs.hpp(2.85 KB)
        abs_normal_fun.hpp(23.33 KB)
        acosh.hpp(2.34 KB)
        ad.hpp(8.99 KB)
        add.hpp(2.95 KB)
        add_eq.hpp(2.7 KB)
        ad_assign.hpp(3.08 KB)
        ad_binary.hpp(3.38 KB)
        ad_ctor.hpp(4.2 KB)
        ad_fun.hpp(23.61 KB)
        ad_io.hpp(5.34 KB)
        ad_to_string.hpp(1.81 KB)
        ad_valued.hpp(1.37 KB)
        arithmetic.hpp(1.16 KB)
        asinh.hpp(2.34 KB)
        atan2.hpp(3.32 KB)
        atanh.hpp(2.37 KB)
        atomic_base.hpp(68.15 KB)
        azmul.hpp(5.65 KB)
        base_complex.hpp(12.15 KB)
        base_cond_exp.hpp(7.16 KB)
        base_double.hpp(5.24 KB)
        base_float.hpp(5.22 KB)
        base_hash.hpp(2.38 KB)
        base_limits.hpp(2.1 KB)
        base_std_math.hpp(5.07 KB)
        base_to_string.hpp(1.81 KB)
        bender_quad.hpp(9.51 KB)
        bool_fun.hpp(6.23 KB)
        bool_valued.hpp(1.16 KB)
        capacity_order.hpp(7.22 KB)
        checkpoint.hpp(60.06 KB)
        check_for_nan.hpp(5.9 KB)
        compare.hpp(10.63 KB)
        compound_assign.hpp(3.41 KB)
        cond_exp.hpp(9.17 KB)
        convert.hpp(1.18 KB)
        cppad_assert.hpp(5.97 KB)
        define.hpp(16.68 KB)
        dependent.hpp(9.19 KB)
        discrete.hpp(8.12 KB)
        div.hpp(2.98 KB)
        div_eq.hpp(2.66 KB)
        drivers.hpp(825 B)
        epsilon.hpp(1.46 KB)
        equal_op_seq.hpp(2.91 KB)
        erf.hpp(2.57 KB)
        expm1.hpp(2.32 KB)
        forward.hpp(12.43 KB)
        for_hes_sparsity.hpp(8.81 KB)
        for_jac_sparsity.hpp(8.31 KB)
        for_one.hpp(3.99 KB)
        for_sparse_hes.hpp(15.67 KB)
        for_sparse_jac.hpp(20.72 KB)
        for_two.hpp(6.33 KB)
        fun_check.hpp(5.65 KB)
        fun_construct.hpp(13.53 KB)
        fun_eval.hpp(720 B)
        hash_code.hpp(1.54 KB)
        hessian.hpp(5.09 KB)
        identical.hpp(3.21 KB)
        independent.hpp(4.87 KB)
        integer.hpp(2.72 KB)
        jacobian.hpp(5.69 KB)
        log1p.hpp(2.28 KB)
        lu_ratio.hpp(10.37 KB)
        mul.hpp(3.04 KB)
        mul_eq.hpp(2.89 KB)
        near_equal_ext.hpp(4.93 KB)
        numeric_limits.hpp(5.85 KB)
        num_skip.hpp(3.15 KB)
        old_atomic.hpp(33.01 KB)
        omp_max_thread.hpp(2.58 KB)
        optimize.hpp(9.92 KB)
        opt_val_hes.hpp(13.76 KB)
        ordered.hpp(2.79 KB)
        parallel_ad.hpp(3.6 KB)
        par_var.hpp(2.99 KB)
        pow.hpp(7.22 KB)
        print_for.hpp(5.99 KB)
        reverse.hpp(5.62 KB)
        rev_hes_sparsity.hpp(6.96 KB)
        rev_jac_sparsity.hpp(6.84 KB)
        rev_one.hpp(3.95 KB)
        rev_sparse_hes.hpp(16.97 KB)
        rev_sparse_jac.hpp(16.63 KB)
        rev_two.hpp(6.04 KB)
        sign.hpp(2.54 KB)
        sparse.hpp(1.24 KB)
        sparse_hes.hpp(15.43 KB)
        sparse_hessian.hpp(25.04 KB)
        sparse_jac.hpp(17.57 KB)
        sparse_jacobian.hpp(31.07 KB)
        standard_math.hpp(3.45 KB)
        std_math_98.hpp(14.17 KB)
        sub.hpp(2.76 KB)
        subgraph_jac_rev.hpp(9.58 KB)
        subgraph_reverse.hpp(10.99 KB)
        subgraph_sparsity.hpp(5.87 KB)
        sub_eq.hpp(2.58 KB)
        tape_link.hpp(10.12 KB)
        testvector.hpp(3.5 KB)
        test_vector.hpp(4.05 KB)
        unary_minus.hpp(2.26 KB)
        unary_plus.hpp(1.98 KB)
        undef.hpp(3.87 KB)
        user_ad.hpp(1.96 KB)
        value.hpp(2.15 KB)
        var2par.hpp(1.92 KB)
        vec_ad.hpp(19.96 KB)
        zdouble.hpp(15.51 KB)
        example
        base_adolc.hpp(9.04 KB)
        cppad_eigen.hpp(4.41 KB)
        eigen_cholesky.hpp(12.07 KB)
        eigen_mat_inv.hpp(12.13 KB)
        eigen_mat_mul.hpp(21.35 KB)
        eigen_plugin.hpp(876 B)
        mat_mul.hpp(19.86 KB)
        ipopt
        solve.hpp(16.58 KB)
        solve_callback.hpp(33.38 KB)
        solve_result.hpp(1.93 KB)
        local
        optimize
        cexp_info.hpp(2.47 KB)
        csum_stacks.hpp(1.31 KB)
        csum_variable.hpp(1.43 KB)
        get_opt_op_info.hpp(31.98 KB)
        hash_code.hpp(1.62 KB)
        match_op.hpp(7.23 KB)
        old2new.hpp(1.1 KB)
        optimize_run.hpp(26.66 KB)
        opt_op_info.hpp(1.29 KB)
        record_csum.hpp(8.24 KB)
        record_pv.hpp(2.79 KB)
        record_vp.hpp(2.73 KB)
        record_vv.hpp(2.56 KB)
        size_pair.hpp(1.06 KB)
        usage.hpp(1.15 KB)
        subgraph
        arg_variable.hpp(2.99 KB)
        entire_call.hpp(2.23 KB)
        get_rev.hpp(5.32 KB)
        info.hpp(9.78 KB)
        init_rev.hpp(5.26 KB)
        sparsity.hpp(5.65 KB)
        abs_op.hpp(4.11 KB)
        acosh_op.hpp(6.86 KB)
        acos_op.hpp(6.8 KB)
        add_op.hpp(9.07 KB)
        ad_tape.hpp(6.66 KB)
        asinh_op.hpp(6.86 KB)
        asin_op.hpp(6.8 KB)
        atanh_op.hpp(6.14 KB)
        atan_op.hpp(6.07 KB)
        CMakeLists.txt(2.68 KB)
        color_general.hpp(8.19 KB)
        color_symmetric.hpp(8.96 KB)
        comp_op.hpp(8.08 KB)
        cond_op.hpp(31.08 KB)
        cosh_op.hpp(6.45 KB)
        cos_op.hpp(6.42 KB)
        cppad_colpack.hpp(3.49 KB)
        cskip_op.hpp(5.3 KB)
        csum_op.hpp(17.33 KB)
        declare_ad.hpp(6.06 KB)
        discrete_op.hpp(3.4 KB)
        div_op.hpp(14.99 KB)
        erf_op.hpp(15.86 KB)
        expm1_op.hpp(4.96 KB)
        exp_op.hpp(4.81 KB)
        forward0sweep.hpp(23.94 KB)
        forward1sweep.hpp(26.18 KB)
        forward2sweep.hpp(21.32 KB)
        for_hes_sweep.hpp(15.19 KB)
        for_jac_sweep.hpp(20.41 KB)
        hash_code.hpp(6.69 KB)
        independent.hpp(2.34 KB)
        is_pod.hpp.in(1.36 KB)
        load_op.hpp(19.45 KB)
        log1p_op.hpp(4.98 KB)
        log_op.hpp(4.84 KB)
        mul_op.hpp(9.43 KB)
        op.hpp(2.09 KB)
        op_code.hpp(28.54 KB)
        parameter_op.hpp(2.54 KB)
        player.hpp(17.97 KB)
        pod_vector.hpp(9.46 KB)
        pow_op.hpp(17.68 KB)
        print_op.hpp(3.75 KB)
        prototype_op.hpp(42.05 KB)
        recorder.hpp(17.43 KB)
        reverse_sweep.hpp(21.54 KB)
        rev_hes_sweep.hpp(21.1 KB)
        rev_jac_sweep.hpp(19.28 KB)
        set_get_in_parallel.hpp(2.16 KB)
        sign_op.hpp(3.83 KB)
        sinh_op.hpp(6.45 KB)
        sin_op.hpp(6.43 KB)
        sparse_binary_op.hpp(14.4 KB)
        sparse_internal.hpp(13.94 KB)
        sparse_list.hpp(41.02 KB)
        sparse_pack.hpp(17.73 KB)
        sparse_sizevec.hpp(41.29 KB)
        sparse_unary_op.hpp(6.7 KB)
        sqrt_op.hpp(4.71 KB)
        std_set.hpp(1.47 KB)
        store_op.hpp(14.3 KB)
        sub_op.hpp(13.15 KB)
        tanh_op.hpp(5.86 KB)
        tan_op.hpp(5.85 KB)
        user_state.hpp(1.01 KB)
        zmul_op.hpp(13.72 KB)
        speed
        det_33.hpp(2.79 KB)
        det_by_lu.hpp(3.97 KB)
        det_by_minor.hpp(3.71 KB)
        det_grad_33.hpp(3.24 KB)
        det_of_minor.hpp(7.08 KB)
        mat_sum_sq.hpp(3.38 KB)
        ode_evaluate.hpp(5.84 KB)
        sparse_hes_fun.hpp(6.72 KB)
        sparse_jac_fun.hpp(5.63 KB)
        uniform_01.hpp(2.46 KB)
        utility
        check_numeric_type.hpp(5.13 KB)
        check_simple_vector.hpp(4.77 KB)
        elapsed_seconds.hpp(4.91 KB)
        error_handler.hpp(6.14 KB)
        index_sort.hpp(4.32 KB)
        lu_factor.hpp(11.37 KB)
        lu_invert.hpp(6.23 KB)
        lu_solve.hpp(9.64 KB)
        memory_leak.hpp(6.55 KB)
        nan.hpp(4.32 KB)
        near_equal.hpp(5.8 KB)
        ode_err_control.hpp(15.52 KB)
        ode_gear.hpp(12.36 KB)
        ode_gear_control.hpp(13.62 KB)
        omp_alloc.hpp(20.29 KB)
        poly.hpp(4.67 KB)
        pow_int.hpp(3.14 KB)
        romberg_mul.hpp(7.59 KB)
        romberg_one.hpp(5.14 KB)
        rosen_34.hpp(12.96 KB)
        runge_45.hpp(11.25 KB)
        set_union.hpp(2 KB)
        sparse_rc.hpp(8.69 KB)
        sparse_rcv.hpp(7.11 KB)
        speed_test.hpp(11.16 KB)
        test_boolofvoid.hpp(3.92 KB)
        thread_alloc.hpp(42.51 KB)
        time_test.hpp(5.97 KB)
        to_string.hpp(4.72 KB)
        track_new_del.hpp(13.65 KB)
        vector.hpp(23.86 KB)
        .cppad.hpp.swo(12 KB)
        .cppad.hpp.swp(12 KB)
        base_require.hpp(4.42 KB)
        CMakeLists.txt(8.24 KB)
        configure.hpp.in(5.68 KB)
        cppad.hpp(2.64 KB)
        utility.hpp(1.84 KB)
        wno_conversion.hpp(1.24 KB)
        example
        base_adolc.hpp(9.04 KB)
        cppad_eigen.hpp(4.41 KB)
        eigen_cholesky.hpp(12.07 KB)
        eigen_mat_inv.hpp(12.13 KB)
        eigen_mat_mul.hpp(21.35 KB)
        eigen_plugin.hpp(876 B)
        mat_mul.hpp(19.86 KB)
        ipopt
        solve.hpp(16.53 KB)
        solve_callback.hpp(33.38 KB)
        solve_result.hpp(1.93 KB)
        local
        optimize
        cexp_info.hpp(2.47 KB)
        csum_stacks.hpp(1.31 KB)
        csum_variable.hpp(1.43 KB)
        get_opt_op_info.hpp(31.98 KB)
        hash_code.hpp(1.62 KB)
        match_op.hpp(7.23 KB)
        old2new.hpp(1.1 KB)
        optimize_run.hpp(26.66 KB)
        opt_op_info.hpp(1.29 KB)
        record_csum.hpp(8.24 KB)
        record_pv.hpp(2.79 KB)
        record_vp.hpp(2.73 KB)
        record_vv.hpp(2.56 KB)
        size_pair.hpp(1.06 KB)
        usage.hpp(1.15 KB)
        subgraph
        arg_variable.hpp(2.99 KB)
        entire_call.hpp(2.23 KB)
        get_rev.hpp(5.32 KB)
        info.hpp(9.78 KB)
        init_rev.hpp(5.26 KB)
        sparsity.hpp(5.65 KB)
        abs_op.hpp(4.11 KB)
        acosh_op.hpp(6.86 KB)
        acos_op.hpp(6.8 KB)
        add_op.hpp(9.07 KB)
        ad_tape.hpp(6.66 KB)
        asinh_op.hpp(6.86 KB)
        asin_op.hpp(6.8 KB)
        atanh_op.hpp(6.14 KB)
        atan_op.hpp(6.07 KB)
        CMakeLists.txt(2.68 KB)
        color_general.hpp(8.19 KB)
        color_symmetric.hpp(8.96 KB)
        comp_op.hpp(8.08 KB)
        cond_op.hpp(31.08 KB)
        cosh_op.hpp(6.45 KB)
        cos_op.hpp(6.42 KB)
        cppad_colpack.hpp(3.49 KB)
        cskip_op.hpp(5.3 KB)
        csum_op.hpp(17.33 KB)
        declare_ad.hpp(6.06 KB)
        discrete_op.hpp(3.4 KB)
        div_op.hpp(14.99 KB)
        erf_op.hpp(15.86 KB)
        expm1_op.hpp(4.96 KB)
        exp_op.hpp(4.81 KB)
        forward0sweep.hpp(23.94 KB)
        forward1sweep.hpp(26.18 KB)
        forward2sweep.hpp(21.32 KB)
        for_hes_sweep.hpp(15.19 KB)
        for_jac_sweep.hpp(20.41 KB)
        hash_code.hpp(6.69 KB)
        independent.hpp(2.34 KB)
        is_pod.hpp(1.38 KB)
        is_pod.hpp.in(1.36 KB)
        load_op.hpp(19.45 KB)
        log1p_op.hpp(4.98 KB)
        log_op.hpp(4.84 KB)
        mul_op.hpp(9.43 KB)
        op.hpp(2.09 KB)
        op_code.hpp(28.54 KB)
        parameter_op.hpp(2.54 KB)
        player.hpp(17.97 KB)
        pod_vector.hpp(9.46 KB)
        pow_op.hpp(17.68 KB)
        print_op.hpp(3.75 KB)
        prototype_op.hpp(42.05 KB)
        recorder.hpp(17.43 KB)
        reverse_sweep.hpp(21.54 KB)
        rev_hes_sweep.hpp(21.1 KB)
        rev_jac_sweep.hpp(19.28 KB)
        set_get_in_parallel.hpp(2.16 KB)
        sign_op.hpp(3.83 KB)
        sinh_op.hpp(6.45 KB)
        sin_op.hpp(6.43 KB)
        sparse_binary_op.hpp(14.4 KB)
        sparse_internal.hpp(13.94 KB)
        sparse_list.hpp(41.02 KB)
        sparse_pack.hpp(17.73 KB)
        sparse_sizevec.hpp(41.29 KB)
        sparse_unary_op.hpp(6.7 KB)
        sqrt_op.hpp(4.71 KB)
        std_set.hpp(1.47 KB)
        store_op.hpp(14.3 KB)
        sub_op.hpp(13.15 KB)
        tanh_op.hpp(5.86 KB)
        tan_op.hpp(5.85 KB)
        user_state.hpp(1.01 KB)
        zmul_op.hpp(13.72 KB)
        speed
        det_33.hpp(2.79 KB)
        det_by_lu.hpp(3.97 KB)
        det_by_minor.hpp(3.71 KB)
        det_grad_33.hpp(3.24 KB)
        det_of_minor.hpp(7.08 KB)
        mat_sum_sq.hpp(3.38 KB)
        ode_evaluate.hpp(5.84 KB)
        sparse_hes_fun.hpp(6.72 KB)
        sparse_jac_fun.hpp(5.63 KB)
        uniform_01.hpp(2.46 KB)
        utility
        check_numeric_type.hpp(5.13 KB)
        check_simple_vector.hpp(4.77 KB)
        elapsed_seconds.hpp(4.91 KB)
        error_handler.hpp(6.14 KB)
        index_sort.hpp(4.32 KB)
        lu_factor.hpp(11.37 KB)
        lu_invert.hpp(6.23 KB)
        lu_solve.hpp(9.64 KB)
        memory_leak.hpp(6.55 KB)
        nan.hpp(4.32 KB)
        near_equal.hpp(5.8 KB)
        ode_err_control.hpp(15.52 KB)
        ode_gear.hpp(12.36 KB)
        ode_gear_control.hpp(13.62 KB)
        omp_alloc.hpp(20.29 KB)
        poly.hpp(4.67 KB)
        pow_int.hpp(3.14 KB)
        romberg_mul.hpp(7.59 KB)
        romberg_one.hpp(5.14 KB)
        rosen_34.hpp(12.96 KB)
        runge_45.hpp(11.25 KB)
        set_union.hpp(2 KB)
        sparse_rc.hpp(8.69 KB)
        sparse_rcv.hpp(7.11 KB)
        speed_test.hpp(11.16 KB)
        test_boolofvoid.hpp(3.92 KB)
        thread_alloc.hpp(42.51 KB)
        time_test.hpp(5.97 KB)
        to_string.hpp(4.72 KB)
        track_new_del.hpp(13.65 KB)
        vector.hpp(23.86 KB)
        .cppad.hpp.swp(12 KB)
        base_require.hpp(4.42 KB)
        CMakeLists.txt(8.24 KB)
        configure.hpp(5.35 KB)
        configure.hpp.in(5.68 KB)
        cppad.hpp(2.64 KB)
        utility.hpp(1.84 KB)
        wno_conversion.hpp(1.24 KB)
      - global_planner.h(2.35 KB)
      - MPC.h(1.34 KB)
      - mpc_plannner.h(1.44 KB)
      - mpc_plannner_ros.h(7.74 KB)
      - navMpc.h(1.4 KB)
      - trackRefTraj.h(1.56 KB)
    - launch
      - mpc_local_planner.launch(4.7 KB)
      - nav_gazebo.launch(4.63 KB)
      - record_odom_traj.launch(246 B)
      - ref_trajectory_tracking_gazebo.launch(3.51 KB)
      - s_map_mpc_local_planner.launch(4.19 KB)
    - map
      - big_s_world.pgm(324.05 KB)
      - big_s_world.yaml(138 B)
      - map.pgm(4.78 KB)
      - map.yaml(131 B)
      - sq_world.pgm(228.05 KB)
      - sq_world.yaml(136 B)
    - params
      - amcl_params.yaml(842 B)
      - costmap_common_params.yaml(1.08 KB)
      - dwa_local_planner_params.yaml(990 B)
      - dwa_navigation.rviz(15.31 KB)
      - global_costmap_params.yaml(489 B)
      - global_planner_params.yaml(324 B)
      - local_costmap_params.yaml(400 B)
      - mpc_last_params.yaml(1.54 KB)
      - mpc_local_epitrochoid_params.yaml(602 B)
      - mpc_local_params.yaml(626 B)
      - mpc_local_square_params.yaml(610 B)
      - mpc_params.yaml(2.06 KB)
      - pure_pursuit_params.yaml(1.15 KB)
      - rviz_navigation.rviz(14.9 KB)
      - total_rviz_navigation.rviz(17.3 KB)
    - rviz
      - hypharos_minicar_mapping.rviz(6.3 KB)
      - hypharos_minicar_racing.rviz(13.22 KB)
      - rviz_navigation.rviz(8.62 KB)
    - script
      - base_control.py(13.91 KB)
      - dwa_trajectory_generation.py(8.87 KB)
      - mpc_trajectory_generation.py(11.57 KB)
      - odom_path_plotter.py(2.83 KB)
      - teleop_keyboard.py(6.3 KB)
    - src
      - global_planner
        global_planner.cpp(9.47 KB)
      - MPC.cpp(15.75 KB)
      - MPC_Node.cpp(23.94 KB)
      - mpc_plannner.cpp(16.12 KB)
      - mpc_plannner_ros.cpp(29.42 KB)
      - navMPC.cpp(16.12 KB)
      - navMPCNode.cpp(20 KB)
      - trackRefTraj.cpp(16.24 KB)
      - trackRefTrajNode.cpp(20.81 KB)
    - worlds
      - big_s_world.world(48.83 KB)
      - sq_world.world(17.69 KB)
    - CMakeLists.txt(2.31 KB)
    - global_planner_plugin.xml(274 B)
    - mpc_plugin.xml(268 B)
    - package.xml(2.34 KB)
  - .gitignore(3.07 KB)
  - LICENSE(11.09 KB)
  - README.md(3.07 KB)
- planning
  - boundary_detector
    - config
      - boundary_detector.yaml(1.97 KB)
    - include
      - boundaryDetector.hpp(6.48 KB)
      - boundaryDetector_handle.hpp(5.74 KB)
      - type.hpp(12.08 KB)
      - visual_path.hpp(4.88 KB)
    - launch
      - boundary_detector.launch(277 B)
    - src
      - boundaryDetector.cpp(15.3 KB)
      - boundaryDetector_handle.cpp(10.83 KB)
      - main.cpp(4.54 KB)
      - visual_path.cpp(11.57 KB)
    - boundary_detector_demo.png(139.22 KB)
    - CMakeLists.txt(1.09 KB)
    - package.xml(3.74 KB)
    - README.md(1.42 KB)
  - line_detector
    - config
      - line_detector.yaml(1.17 KB)
    - include
      - line_detector.hpp(2.45 KB)
      - line_detector_handle.hpp(2.88 KB)
    - launch
      - line_detector.launch(257 B)
    - script
      - acceleration.py(2.84 KB)
      - endpoint.py(2.17 KB)
    - src
      - line_detector.cpp(5.27 KB)
      - line_detector_handle.cpp(3.97 KB)
      - line_detector_origin.cpp(5.37 KB)
      - main.cpp(2.24 KB)
    - CMakeLists.txt(686 B)
    - package.xml(538 B)
    - README.md(676 B)
  - path_generator
    - config
      - acceleration.yaml(469 B)
      - skidpad.yaml(521 B)
      - trackdrive.yaml(415 B)
    - include
      - Track
        line_track.h(991 B)
        skidpad_track.h(1015 B)
        trackdrive_track.h(992 B)
        track_base.h(1.69 KB)
      - Utils
        param.h(963 B)
        types.h(1.38 KB)
        visual.h(655 B)
      - path_generator.hpp(2.49 KB)
      - path_generator_handle.hpp(2.19 KB)
    - launch
      - acceleration.launch(260 B)
      - skidpad.launch(254 B)
      - trackdrive.launch(257 B)
    - src
      - Track
        line_track.cpp(3.85 KB)
        skidpad_track.cpp(4.69 KB)
        trackdrive_track.cpp(5.7 KB)
        track_base.cpp(1.15 KB)
      - Utils
        visual.cpp(3.85 KB)
      - main.cpp(1.3 KB)
      - path_generator.cpp(4.95 KB)
      - path_generator_handle.cpp(5.27 KB)
    - CMakeLists.txt(1.32 KB)
    - package.xml(499 B)
    - README.md(2.03 KB)
  - skidpad_detector
    - config
      - path_x.txt(41.3 KB)
      - path_y.txt(41.3 KB)
      - skidpad.pcd(1.35 KB)
      - skidpad_detector.yaml(647 B)
    - include
      - skidpad_detector.hpp(1.87 KB)
      - skidpad_detector_handle.hpp(1.55 KB)
    - launch
      - skidpad_detector.launch(272 B)
    - src
      - main.cpp(1.32 KB)
      - skidpad_detector.cpp(5.71 KB)
      - skidpad_detector_handle.cpp(2.81 KB)
    - CMakeLists.txt(727 B)
    - package.xml(475 B)
    - README.md(1015 B)
- smartcar
  - smartcar_description
    - config
      - README.md(1 B)
      - smartcar.rviz(6.34 KB)
      - smartcar_arbotix.yaml(256 B)
      - smartcar_joint.yaml(1.38 KB)
      - smartcar_joint_PID.yaml(127 B)
      - smartcar_xacro.rviz(7.47 KB)
    - launch
      - urdf
        base_urdf_rviz.launch(599 B)
      - xacro
        smartcar_gazebo.launch(2.12 KB)
        smartcar_rviz.launch(1.53 KB)
    - urdf
      - urdf
        smartcar.urdf(5.62 KB)
      - xacro
        smartcar.urdf(18.86 KB)
        smartcar.xacro(1.35 KB)
        smartcar_body.xacro(13.86 KB)
        smartcar_sim.xacro(11.48 KB)
    - CMakeLists.txt(1.17 KB)
    - mainpage.dox(125 B)
    - Makefile(41 B)
    - manifest.xml(292 B)
  - README.md(653 B)
车辆工程基于无人方程式赛车的路径规划算法研究11.35-AI13.03.docx(5.46 MB)

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2026车辆工程一套基于无人方程式赛车的路径规划算法研究11.35-AI13.03(论文+程序代码源码)定稿.zip