search

karlkurzer / path_planner

Hybrid A* Path Planner for the KTH Research Concept Vehicle
http://karlkurzer.github.io/path_planner/
BSD 3-Clause "New" or "Revised" License
1.59k stars 540 forks source link

fixed curvature term formula error #53

Closed LeatherWang closed 2 years ago

LeatherWang commented 2 years ago

Fixed issue #6 zero weight problem of curvature term

The correct derivative of curvature $\kappa_i$ with respect to the node $\mathbf{x}_i$ as follow:

image

Similarly, you can get the derivative for $\kappa{i-1}$ and $\kappa{i+1}$. Below is the result, red curve is search trajectory and green is smoothed trajectory.

image

karlkurzer commented 2 years ago

@LeatherWang amazing, thanks!