A star Speed Planning

1. Description

This repository is about speed planning of an autonomous driving car. We use A* and Hybrid A* to complete our task. Moreover, we compared the results of two algorithms.

2. Requirement

• python3.7
• numpy
• pandas
• matplotlib

3. Usage

• run algorithm && generate csv file

git clone https://github.com/purewater0901/a_star_speed_planning.git
cd a_star_speed_planning
mkdir build && cd build
cmake ..
make
./main

• visualize result

python script/visualize.py

4. Result

• Black: Obstacle Occupied Area
• Red: Optimal Trajectory generated by A*
• Blue: Optimal Trajectory generated by Hybrid A*

5. Reference

• Paper

Hierarchical Trajectory Planning

• Code

A Star