Optimal Trajectory generation for Lane Changing in Frenet Frame
Learn from paper WerlingOptimalTrajectoryGenerationforDynamicStreetScenariosinaFrenetFrame
-
Planning the lane changing trajectory by combine the lateral and longitudinal cost function in frenet frame -
Simulated with the control algorithm to avoid collision from moving and static obstacles
- Frenet坐标下动态街道场景的最优轨迹生成,这个是使用matlab完成 Optimal Trajectory Generation for Dynamic Street Scenarios in a Frenet Frame论文里面的方法，运行这个方法只要 运行主函数main_path_planning.m即可，具体内容可见博客：https://blog.csdn.net/caokaifa/article/details/108015374
2.机器人局部避障的动态窗口法（DynamicWindowApproach）是对论文Mobile robot motion planning sample with Dynamic Window Approach的实现，运行DW_Main.m即可。
3.RS曲线的生成