https://github.com/zhm-real/curvesgenerator

Common used curves for motion planning.
https://github.com/zhm-real/curvesgenerator

bezier-curves bspline cubic-splines dubins-curve dubins-path quartic-polynomial quintic-polynomial reeds-shepp-curves

Last synced: 3 days ago
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Common used curves for motion planning.

• Host: GitHub
• URL: https://github.com/zhm-real/curvesgenerator
• Owner: zhm-real
• License: mit
• Created: 2020-07-08T17:40:59.000Z (over 4 years ago)
• Default Branch: master
• Last Pushed: 2021-07-23T07:37:56.000Z (over 3 years ago)
• Last Synced: 2023-11-07T15:38:53.832Z (about 1 year ago)
• Topics: bezier-curves, bspline, cubic-splines, dubins-curve, dubins-path, quartic-polynomial, quintic-polynomial, reeds-shepp-curves
• Language: Python
• Homepage: https://github.com/zhm-real/CurvesGenerator
• Size: 3.76 MB
• Stars: 154
• Watchers: 3
• Forks: 50
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

README

        
# CurvesGenerator

## Overview

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

## Dubins Path



  

    

    

  



## Reeds-Shepp Path



  

    

    

  



## Bezier Path



  

    

    

  



## B-Spline Line & Quintic Polynomial



  

    

    

  



## Reference

* [Paper: ](https://projecteuclid.org/download/pdf_1/euclid.pjm/1102645450) Optimal paths for a car that goes both forwards and backwards, by J. A. REEDS & L. A. SHEPP.

* [Adapted Paper: ](http://msl.cs.uiuc.edu/~lavalle/cs326a/rs.c) Some typos in the paper adapted.

* [Book Chapter: ](http://planning.cs.uiuc.edu/node822.html) Planning Algorithm by Steven M. LaValle.

* [C++ Version: ](https://ompl.kavrakilab.org/ReedsSheppStateSpace_8cpp_source.html) Library of OMPL.

* [Julia Version: ](https://github.com/AtsushiSakai/HybridAStarTrailer/blob/master/src/rs_path.jl) From AtsushiSakai's work.