Optimal Trajectory in a Frenet Frame
------------------------------------

.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/FrenetOptimalTrajectory/animation.gif

This is optimal trajectory generation in a Frenet Frame.

The cyan line is the target course and black crosses are obstacles.

The red line is predicted path.

Ref:

-  `Optimal Trajectory Generation for Dynamic Street Scenarios in a
   Frenet
   Frame <https://www.researchgate.net/profile/Moritz_Werling/publication/224156269_Optimal_Trajectory_Generation_for_Dynamic_Street_Scenarios_in_a_Frenet_Frame/links/54f749df0cf210398e9277af.pdf>`__

-  `Optimal trajectory generation for dynamic street scenarios in a
   Frenet Frame <https://www.youtube.com/watch?v=Cj6tAQe7UCY>`__

