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add some reference.

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Atsushi Sakai
2017-12-28 16:55:33 -08:00
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@@ -114,7 +114,8 @@ This script is a path planning code with model predictive trajectory generator.
![PythonRobotics/figure_1.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/ModelPredictiveTrajectoryGenerator/lookuptable.png?raw=True)
see:
Ref:
- [Optimal rough terrain trajectory generation for wheeled mobile robots](http://journals.sagepub.com/doi/pdf/10.1177/0278364906075328)
　
@@ -194,8 +195,12 @@ This script is a simple path planning code with Rapidly-Exploring Random Trees (
This script is a path planning code with RRT \*
Ref:
- [Incremental Sampling-based Algorithms for Optimal Motion Planning](https://arxiv.org/abs/1005.0416)
- [Sampling-based Algorithms for Optimal Motion Planningj](http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.419.5503&rep=rep1&type=pdf)
### RRT with dubins path
@@ -225,7 +230,7 @@ A sample code with closed loop RRT\*.
![PythonRobotics/figure_1-5.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/CRRRTStar/Figure_4.png?raw=True)
![PythonRobotics/figure_1-5.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/CRRRTStar/Figure_5.png?raw=True)
see:
Ref:
- [Motion Planning in Complex Environments
using Closed-loop Prediction](http://acl.mit.edu/papers/KuwataGNC08.pdf)
@@ -252,12 +257,15 @@ Heading angle of each point can be also calculated analytically.
A sample code for Dubins path planning.
[Dubins path - Wikipedia](https://en.wikipedia.org/wiki/Dubins_path)
![PythonRobotics/figure_1.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/DubinsPath/figures/figure_1.png?raw=True)
![PythonRobotics/figure_1.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/DubinsPath/figures/figure_13.png?raw=True)
![PythonRobotics/figure_1.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/DubinsPath/figures/figure_15.png?raw=True)
Ref:
- [Dubins path - Wikipedia](https://en.wikipedia.org/wiki/Dubins_path)
## Reeds Shepp planning
A sample code with Reeds Shepp path planning.
@@ -266,6 +274,16 @@ A sample code with Reeds Shepp path planning.
![PythonRobotics/figure_1-5.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/ReedsSheppPath/figure_1-5.png?raw=true)
![PythonRobotics/figure_1-5.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/ReedsSheppPath/figure_1-7.png?raw=true)
Ref:
- [15.3.2 Reeds\-Shepp Curves](http://planning.cs.uiuc.edu/node822.html)
- [optimal paths for a car that goes both forwards and backwards](https://pdfs.semanticscholar.org/932e/c495b1d0018fd59dee12a0bf74434fac7af4.pdf)
- [ghliu/pyReedsShepp: Implementation of Reeds Shepp curve\.](https://github.com/ghliu/pyReedsShepp)
　
## Mix Integer Optimization based model predictive planning and control
![2](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/MixIntegerPathPlanning/animation.gif)