# spiralsTrajactory

**Repository Path**: wenb11/spiralsTrajactory

## Basic Information

- **Project Name**: spiralsTrajactory
- **Description**: 基于螺旋曲线的轨迹生成，设置起点与终点，可生成轨迹
- **Primary Language**: Unknown
- **License**: AGPL-3.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 5
- **Created**: 2021-12-01
- **Last Updated**: 2021-12-01

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# spiralsTrajactory

#### Introdution
sprialsTrajactory is a C++ trajectory generation library for autonomous vehicle motion planning based on project [PolyTraj](https://github.com/jsford/PolyTraj). Given a start pose and an end pose, spiralsTrajactory will generate a C2 continuous path connecting the two poses.  This project is more accurate and stable than project PolyTraj.

![Boundary constraints](https://images.gitee.com/uploads/images/2021/0627/203137_e8c98373_7770520.png "屏幕截图.png")


Reference papers
1. [Parallel Algorithms for Real-time Motion Planning](https://www.ri.cmu.edu/pub_files/2011/7/mcnaughton-thesis.pdf)

2. [Reactive Nonholonomic Trajectory Generation via Parametric Optimal Control](https://journals.sagepub.com/doi/10.1177/02783649030227008)

Reference blog

1.[【轨迹生成】参数化最优控制 约束-控制-图形参数](https://blog.csdn.net/Neo11111/article/details/105960645/?utm_medium=distribute.pc_relevant.none-task-blog-baidujs_title-0&spm=1001.2101.3001.4242)

2.[基于多项式螺旋曲线的轨迹优化](https://blog.csdn.net/github_39582118/article/details/117754864?spm=1001.2014.3001.5501)

#### Installation
1. Install [Eigen](https://eigen.tuxfamily.org/dox/GettingStarted.html).
2. Install [gnuplot ](http://www.gnuplot.info/download.html)(If you don't need to display path results, you can comment out the plot code.)

#### Contact
rongmin liang

[CSDN ](https://blog.csdn.net/github_39582118?spm=1001.2101.3001.5343) 
liangrongmin@foxmail.com