# State Lattice Planning — PythonRobotics documentation

# State Lattice Planning

This script is a path planning code with state lattice planning.

This code uses the model predictive trajectory generator to solve boundary problem.

## Uniform polar sampling

## Biased polar sampling

## Lane sampling

Ref:

- Optimal rough terrain trajectory generation for wheeled mobile robots

- State Space Sampling of Feasible Motions for High-Performance Mobile Robot Navigation in Complex Environments