Optimal Parking Series Summary - From Sampling to Optimized Trajectory
A compact map of the Optimal Parking planner, from the kinematic bicycle model and RRT* seed to sequential QP refinement and browser execution.
3 docs tagged with "autonomous-driving"
View all tagsOptimal Parking, Part 1 - Problem Definition and the Kinematic Bicycle Model
The parking problem, its state and input variables, and the five-state kinematic bicycle model used by the planner.
Optimal Parking, Part 2 - RRT* as an Initial Path Planner
Why RRT* is used to generate a collision-free geometric path before trajectory optimization.