Brain Dump

Motion Planning for Robot Cars

The Pure Pursuit Path Tracking Algorithm

• Implementation of the Pure Pursuit Path Tracking Algorithm R. Craig Coulter
  • https://www.ri.cmu.edu/pub_files/pub3/coulter_r_craig_1992_1/coulter_r_craig_1992_1.pdf
• https://www.mathworks.com/help/robotics/ug/pure-pursuit-controller.html
• https://www.coursera.org/lecture/intro-self-driving-cars/lesson-2-geometric-lateral-control-pure-pursuit-44N7x

Dubin's Car and Reed Shepp

• Andy G's blog: A Comprehensive, Step-by-Step Tutorial to Computing Dubin’s Paths
  • https://gieseanw.wordpress.com/2012/10/21/a-comprehensive-step-by-step-tutorial-to-computing-dubins-paths/
  • https://github.com/gieseanw/Dubins
• http://planning.cs.uiuc.edu/node822.html

Libraries

• http://ompl.kavrakilab.org/