# frenet_optimal_trajectory_planner

**Repository Path**: yangsir12/frenet_optimal_trajectory_planner

## Basic Information

- **Project Name**: frenet_optimal_trajectory_planner
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 4
- **Created**: 2021-04-12
- **Last Updated**: 2021-04-12

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Frenet Optimal Trajectory
![FrenetOptimalTrajectory Demo](img/fot.gif)
![FrenetOptimalTrajectory Demo](img/fot2.gif)

## Overview
This repository contains a fast, C++ implementation of the Frenet Optimal
 Trajectory algorithm with a Python wrapper. It is used as one of the motion planning models in 
 [pylot](https://github.com/erdos-project/pylot), an [erdos](https://github.com/erdos-project) project.
 
Reference Papers:
- [Optimal Trajectory Generation for Dynamic Street Scenarios in a Frenet Frame](https://www.researchgate.net/profile/Moritz_Werling/publication/224156269_Optimal_Trajectory_Generation_for_Dynamic_Street_Scenarios_in_a_Frenet_Frame/links/54f749df0cf210398e9277af.pdf)
- [Optimal trajectory generation for dynamic street scenarios in a Frenet Frame](https://www.youtube.com/watch?v=Cj6tAQe7UCY)

## Profiling
Some basic profiling of the code (same trajectory as demo, 10 obstacles) 
indicates the following expected performance:
```
Average Time: ~7 ms
Max Time: ~20 ms
```

## Setup
```
git clone https://github.com/fangedward/frenet-optimal-trajectory-planner.git
./build.sh
```

## Example Usage
There is a Python wrapper and C++ API. The Python wrapper is located in 
`FrenetOptimalTrajectory/fot_wrapper.py` and the C++ API is under 
`src/FrenetOptimalTrajectory/fot_wrapper.cpp`.
The following command will simulate a simple scenario to run the
 FrenetOptimalTrajectory planning algorithm.
```
python3 FrenetOptimalTrajectory/fot.py
```