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

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.

Code Link
~~~~~~~~~~~~~~

.. autofunction:: PathPlanning.FrenetOptimalTrajectory.frenet_optimal_trajectory.main


High Speed and Velocity Keeping Scenario
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

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

This scenario shows how the trajectory is maintained at high speeds while keeping a consistent velocity.

High Speed and Merging and Stopping Scenario
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

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

This scenario demonstrates the trajectory planning at high speeds with merging and stopping behaviors.

Low Speed and Velocity Keeping Scenario
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

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

This scenario demonstrates how the trajectory is managed at low speeds while maintaining a steady velocity.

Low Speed and Merging and Stopping Scenario
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

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

This scenario illustrates the trajectory planning at low speeds with merging and stopping behaviors.

Reference

-  `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>`__

