Bezier path planning

A sample code of Bezier path planning.

It is based on 4 control points Beizer path.

If you change the offset distance from start and end point,

You can get different Beizer course:

Code Link

PathPlanning.BezierPath.bezier_path.calc_4points_bezier_path(sx, sy, syaw, ex, ey, eyaw, offset)

Compute control points and path given start and end position.

Parameters:

• sx – (float) x-coordinate of the starting point

• sy – (float) y-coordinate of the starting point

• syaw – (float) yaw angle at start

• ex – (float) x-coordinate of the ending point

• ey – (float) y-coordinate of the ending point

• eyaw – (float) yaw angle at the end

• offset – (float)

Returns:

(numpy array, numpy array)

Reference

• Continuous Curvature Path Generation Based on Bezier Curves for Autonomous Vehicles