{"id":15671401,"url":"https://github.com/winstxnhdw/offlinepathoptimisation","last_synced_at":"2025-05-06T20:24:34.635Z","repository":{"id":108153134,"uuid":"355295163","full_name":"winstxnhdw/OfflinePathOptimisation","owner":"winstxnhdw","description":"An investigation of various path planning optimisation techniques from academic papers in Jupyter Notebook.","archived":false,"fork":false,"pushed_at":"2022-10-08T14:19:59.000Z","size":141506,"stargazers_count":9,"open_issues_count":0,"forks_count":3,"subscribers_count":2,"default_branch":"master","last_synced_at":"2025-03-31T02:34:57.608Z","etag":null,"topics":["constraints","minimize","optimisation","path-planning","path-smoothing","scientific-computing","scipy","visualisation","waypoints"],"latest_commit_sha":null,"homepage":"","language":"Jupyter Notebook","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/winstxnhdw.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2021-04-06T18:42:24.000Z","updated_at":"2023-10-16T00:59:42.000Z","dependencies_parsed_at":null,"dependency_job_id":"3d33b248-1114-4228-b457-33e593bda454","html_url":"https://github.com/winstxnhdw/OfflinePathOptimisation","commit_stats":{"total_commits":121,"total_committers":3,"mean_commits":"40.333333333333336","dds":0.1900826446280992,"last_synced_commit":"31aa5b2822d05de993ca0acf51be9a1983d18d2f"},"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/winstxnhdw%2FOfflinePathOptimisation","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/winstxnhdw%2FOfflinePathOptimisation/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/winstxnhdw%2FOfflinePathOptimisation/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/winstxnhdw%2FOfflinePathOptimisation/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/winstxnhdw","download_url":"https://codeload.github.com/winstxnhdw/OfflinePathOptimisation/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":252762717,"owners_count":21800362,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["constraints","minimize","optimisation","path-planning","path-smoothing","scientific-computing","scipy","visualisation","waypoints"],"created_at":"2024-10-03T15:02:08.633Z","updated_at":"2025-05-06T20:24:34.605Z","avatar_url":"https://github.com/winstxnhdw.png","language":"Jupyter Notebook","funding_links":[],"categories":[],"sub_categories":[],"readme":"# OFFLINE PATH PLANNING OPTIMISATION\n\nThis notebook elaborates the testing and development of an offline path planning optimisation pipeline to generate a safe and feasible reference path for an ego vehicle.\n\n## Objective\n\nThe pipeline takes a set of coarsely placed waypoints and adjusts their localisation so as to comply with certain **path curvature** constraints in view of the vehicle's size and steering capability. The adjusted waypoints should be as close as possible to the original waypoints without violating any curvature constraints.\n\n\u003cdiv align=\"center\"\u003e\n\t\u003cimg src=\"resources/vis.gif\" /\u003e\n\u003c/div\u003e\n\n## Approaches\n\n- [Focused Trajectory Planning for Autonomous On-Road Driving](https://www.ri.cmu.edu/pub_files/2013/6/IV2013-Tianyu.pdf) by Gu et. al.\n\n- [Segmented Constrained Path Optimisation](examples/constrained.ipynb)\n\n- [Unconstrained Waypoint Optimisation](examples/unconstrained.ipynb)\n\n- [Controlled Unconstrained Waypoint Optimisation](examples/controlled.ipynb)\n\n## Results\n\nA controlled real-world test was conducted only on the waypoints generated from the [unconstrained approach](examples/unconstrained.ipynb). Empirical data indicated higher comfort levels during transportation when compared to the tracking of unoptimised waypoints. With curb information accounted for ([see the controlled approach](examples/controlled.ipynb)), the resultant path held a safer distance from the curb without any noticeable loss in passenger comfort.\n\n## Requirements\n\n```bash\npip install -r requirements.txt\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fwinstxnhdw%2Fofflinepathoptimisation","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fwinstxnhdw%2Fofflinepathoptimisation","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fwinstxnhdw%2Fofflinepathoptimisation/lists"}