search

Habrador / Self-driving-vehicle

Simulation of path planning for self-driving vehicles in Unity. This is also an implementation of the Hybrid A* pathfinding algorithm which is useful if you are interested in pathfinding for vehicles.
https://www.habrador.com/
MIT License
408 stars 100 forks source link

Any idea about smooth curvature? #1

Open xilinnancheng opened 5 years ago

xilinnancheng commented 5 years ago

Can the simulation car track the path perfectly? Maybe take account of smooth path by kinematic constraint.

mathprocessing commented 2 years ago

It's a good question!

Ways of thinking that possibly can help solve this problem

  1. Find all possible paths from fixed point A to arbitrary point B (or arbitrary point A to arbitrary point B), maybe somehow find the function nextStepAction(kinematicState).
  2. Kinematic constraint:
    • If we have an action function, we can easily get a trajectory, but how can we solve the inverse problem? What if we have a trajectory and the problem is to compute an action function?
      1. А continuous space in practice may contain parts similar to each other can this be used somehow?