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AtsushiSakai
2017-06-17 23:27:13 -07:00
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README.md
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@@ -78,6 +78,23 @@ 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)
## Closed Loop RRT\*
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_1.png)
![PythonRobotics/figure_1-5.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/CRRRTStar/Figure_4.png)
![PythonRobotics/figure_1-5.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/CRRRTStar/Figure_5.png)
see:
- [Motion Planning in Complex Environments
using Closed-loop Prediction](http://acl.mit.edu/papers/KuwataGNC08.pdf)
- [Real-time Motion Planning with Applications to
Autonomous Urban Driving](http://acl.mit.edu/papers/KuwataTCST09.pdf)
- [[1601.06326] Sampling-based Algorithms for Optimal Motion Planning Using Closed-loop Prediction](https://arxiv.org/abs/1601.06326)
# Path tracking
@@ -90,7 +107,6 @@ Path tracking simulation with pure pursuit steering control and PID speed contro
![PythonRobotics/figure_1-5.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathTracking/pure_pursuit/Figure_1-3.png)
![PythonRobotics/figure_1-5.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathTracking/pure_pursuit/2Figure_1-2.png)
![PythonRobotics/figure_1-5.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathTracking/pure_pursuit/4Figure_1-2.png)
![PythonRobotics/figure_1-5.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathTracking/pure_pursuit/Figure1.png)