Hybrid A* Path in Frenet's Optimal Trajectory

An experiment toward optimizing driver experience and shortening distance at the same time.

Member

Name	Student ID
YI-CHI TSENG	B09902028
PIN-WEN WANG	B09902048

Usage

python main.py [-h] [-o <OBSTACLE_MAP_PATTERN>]
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-h, --help show help message
-o, --obstacle-map-pattern  {ORIGINAL, STRAIGHT_ROAD, SQUARE, V, LARGE_V, W}

Results

ORIGINAL map

ROOF map

M map

Citing

PythonRobotics: a Python code collection of robotics algorithms