From 6c4615b3f10ea2fc2a9cb6915335627280cf0926 Mon Sep 17 00:00:00 2001 From: Atsushi Sakai Date: Fri, 12 Jan 2018 21:40:41 -0800 Subject: [PATCH] update README --- README.md | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/README.md b/README.md index 7dd5af58..a8348cc1 100644 --- a/README.md +++ b/README.md @@ -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