State Lattice Planning

This script is a path planning code with state lattice planning.

This code uses the model predictive trajectory generator to solve boundary problem.

Uniform polar sampling

https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/StateLatticePlanner/UniformPolarSampling.gif

Biased polar sampling

https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/StateLatticePlanner/BiasedPolarSampling.gif

Lane sampling

https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/StateLatticePlanner/LaneSampling.gif

Ref: