forrest-z / spiralstrajactory

Using Polynomial Spirals generate trajectory library for autonomous vechile motion planning

spiralsTrajactory

Introdution

sprialsTrajactory is a C++ trajectory generation library for autonomous vehicle motion planning based on project PolyTraj. Given a start pose and an end pose, spiralsTrajactory will generate a C2 continuous path connecting the two poses. This project is more accurate and stable than project PolyTraj.

Reference papers

1. Parallel Algorithms for Real-time Motion Planning

2. Reactive Nonholonomic Trajectory Generation via Parametric Optimal Control

Reference blog

1.【轨迹生成】参数化最优控制 约束-控制-图形参数

2.基于多项式螺旋曲线的轨迹优化

Installation

1. Install Eigen.
2. Install gnuplot (If you don't need to display path results, you can comment out the plot code.)

Contact

rongmin liang CSDN