hybrid-A-python-version

Departure Scenario Using Reed Shepps Curve(Resolution = 0.8m):

Departure Scenario Without Using Reed Shepps Curve(Resolution = 0.5m):

Departure Scenario Without Using Reed Shepps Curve(Resolution = 0.8m):

Departure Scenario Without Using Reed Shepps Curve(Resolution = 1.0m):

Side Parking Using Reed Shepps Curve(Resolution = 0.8m):

Side Parking Without Using Reed Shepps Curve(Resolution = 0.5m):

Side Parking Without Using Reed Shepps Curve(Resolution = 0.8m):

Side Parking Without Using Reed Shepps Curve(Resolution = 1.0m):

Path Smooth Using Ipopt:

Path Smooth Using SQP:

Hybrid A-start Path Smooth Using IPOPT:

Reference

1.PythonRobotics:https://github.com/AtsushiSakai/PythonRobotics

2.H-OBCA:https://github.com/XiaojingGeorgeZhang/H-OBCA

3.Discrete Point Smoother: https://mp.weixin.qq.com/s/_C8qHOjgqNEfTMip8qYqTA?from=singlemessage&isappinstalled=0&scene=1&clicktime=1639491694&enterid=1639491694

4.Ipopt: https://coin-or.github.io/Ipopt/

5.Cyipopt:https://github.com/mechmotum/cyipopt also see examples.

6.OSQP:https://osqp.org/docs/solver/index.html

7. Improved Updating of Euclidean Distance Maps and Voronoi Diagrams