references

1. 闫尧, 李春书, 唐风敏. 基于五次多项式模型的自主车辆换道轨迹规划. 机械设计. 2019;36(8):42–7.
2. Chen C, He Y, Bu C, Han J, Zhang X. Quartic Bézier curve based trajectory generation for autonomous vehicles with curvature and velocity constraints. In: 2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE; 2014. p. 6108–6113.
3. Heilmeier A, Wischnewski A, Hermansdorfer L, Betz J, Lienkamp M, Lohmann B. Minimum curvature trajectory planning and control for an autonomous race car. Vehicle System Dynamics. 2019 Jun 18;0(0):1–31.
4. Kapania NR, Subosits J, Christian Gerdes J. A sequential two-step algorithm for fast generation of vehicle racing trajectories. Journal of Dynamic Systems, Measurement, and Control. 2016;138(9).

available languages

1. matlab
2. C++ (windows and ubuntu-tx2)

change logs

20200721 sqp
20200725 贝塞尔曲线
20200730 quadratic bezier
20200802 QP minimum curvature
20201126 RRT
20201230 state lattice
20210119 dijkstra
20200120 Astar
20210309 dijkstra c++ build
20210311 Astar c++ build
20210329 dijkstra and aStar tx2 build