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@@ -349,7 +349,23 @@ Ref:
- [ghliu/pyReedsShepp: Implementation of Reeds Shepp curve\.](https://github.com/ghliu/pyReedsShepp)
## Frenet Optimal Trajectory
![3](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/FrenetOptimalTrajectory/animation.gif)
It is a optimal trajectory generation on Frenet Frame.
The cyan line is 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)
## Mix Integer Optimization based model predictive planning and control