Ubuntu20.04(recommend) or Ubunt18.04
CMake
OpenCV(OpenCV4 recommend)
mkdir build
cd build
cmake ..
make -j10
./a_star
./rrt
The rightward direction is the positive direction of the X-axis
The downward direction is the positive direction of the Y-axis.
| Algorithm group | Technique | Technique description |
| Graph search based planners | Dijkstra's Algorithm |
Known nodes/cells search space with associated weights Grid and node/cells weights computation according to the environment |
| A* algorithm family |
Anytime D* with Voronoi cost functions Hybrid-heuristics A* A* with Voronoi/Lattice enviroment represeantation. PAO* |
|
| State Lattices |
Enviroment decomposed in a local variable grid, depending on the complexity of the maneuver Spatio-temporal lattices(considering time and velocity dimensions) |
|
| Sampling based planners | RRT |
Physical and logical bias are used to generate the random-tree Anytime planning with RRT* Trajectory coordination with RRT |
| Interpolating curve planners | Line and circle | Road fitting and interpolation of known waypoints |
| Clothoid Curves |
Piecewise trajectory generation with straight, clothoid and circular segments Off-line generation of clothoid primitives from which the best will be taken in on-line evaluation |
|
| Polynomial Curves |
Cubic order polynomial curves Higher order polynomial curves |
|
| Bezier Curves |
Selection of the optimal control points location for the situation in hand Rational Bezier curves impletation |
|
| Spline Curves | Polynomial piecewise implementation Basis splines(b-splines) | |
| Numerical optimization approaches | Function optimization | Trajectory generation optimizing parameters such as speed, steering speed, rollover constraints, lateral accelerations, jerk(lateral comort optimization), among others |