This repository implemented some common motion planners used on autonomous vehicles, including
- Hybrid A* Planner
- Lattice Planner
- EM Planner (imcompleted)
Also, this repository provides some controllers for path tracking, including
- Pure Pursuit + PID
- Rear-Wheel Feedback + PID
- Front-Wheel Feedback / Stanley + PID
- LQR + PID
- Linear MPC
- Python 3.6 or above
- SciPy
- cvxpy
- Reeds-Shepp Curves
- pycubicspline
This repository uses two models: simple car model and car pulling trailers model.
- ApolloAuto/apollo by Baidu
- Optimal Trajectory Generation for Dynamic Street Scenarios in a Frenet Frame by Moritz Werling, etc
- Baidu Apollo EM Motion Planner by Baidu
- Practical Search Techniques in Path Planning for Autonomous Driving by Stanford
- Hybrid Path Planner (C++) by KTH Research Concept Vehicle
- hybrid-astar-planner (MATLAB) by Mengli Liu
- HybridAStarTrailer (Julia) by AtsushiSakai