CurvesGenerator

Overview

This repository concludes some common used curves or polynomials on path planning.

Dubins Path

<div align=right> <table> <tr> <td><img src="https://github.com/zhm-real/ReedsSheppCurves/blob/master/gif/dubins1.gif" alt="rs1" width="400"/></a></td> <td><img src="https://github.com/zhm-real/ReedsSheppCurves/blob/master/gif/dubins2.gif" alt="rs2" width="400"/></a></td> </tr> </table> </div>

Reeds-Shepp Path

<div align=right> <table> <tr> <td><img src="https://github.com/zhm-real/ReedsSheppCurves/blob/master/gif/RS1.gif" alt="rs1" width="400"/></a></td> <td><img src="https://github.com/zhm-real/ReedsSheppCurves/blob/master/gif/RS2.gif" alt="rs2" width="400"/></a></td> </tr> </table> </div>

Bezier Path

<div align=right> <table> <tr> <td><img src="https://github.com/zhm-real/CurvesGenerator/blob/master/gif/cubicbezierdemo.gif" alt="rs1" width="400"/></a></td> <td><img src="https://github.com/zhm-real/CurvesGenerator/blob/master/gif/bezier.gif" alt="rs2" width="400"/></a></td> </tr> </table> </div>

B-Spline Line & Quintic Polynomial

<div align=right> <table> <tr> <td><img src="https://github.com/zhm-real/CurvesGenerator/blob/master/gif/BSpline.gif" alt="rs1" width="400"/></a></td> <td><img src="https://github.com/zhm-real/CurvesGenerator/blob/master/gif/quintic.gif" alt="rs2" width="400"/></a></td> </tr> </table> </div>

Reference

• Paper: Optimal paths for a car that goes both forwards and backwards, by J. A. REEDS & L. A. SHEPP.
• Adapted Paper: Some typos in the paper adapted.
• Book Chapter: Planning Algorithm by Steven M. LaValle.
• C++ Version: Library of OMPL.
• Julia Version: From AtsushiSakai's work.