Efficient Sampling-Based Planning with Comfort Constraints for Autonomous Vehicles

We proposed a efficient planning framework for autonomous vehicles which consider Comfort Constraint for object/people in the vehicles.

Core contributions:

Installation

Need to install glut (depends on OpenGL)and png-lib:

• apt install freeglut3-dev
• apt install libpng-dev

Compile

• cmake -DCMAKE_BUILD_TYPE="Release"
• make

Run the planner

The planner will prompt whether your running successful or failed.

Visualize the path

Results and comments:

Link to experiments: https://buivn.github.io/files/videos/