Frenet Optimal Trajectory

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, an erdos project.

Reference Papers:

• Optimal Trajectory Generation for Dynamic Street Scenarios in a Frenet Frame
• Optimal trajectory generation for dynamic street scenarios in a Frenet Frame

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