Simulation of path planning for self-driving vehicles in Unity. This is also an implementation of the Hybrid A* pathfinding algorithm which is useful if you are interested in pathfinding for vehicles.

Common used curves for motion planning.

A simple Python implementation of the Reeds-Shepp curves formulas.

Freespace Reeds-Shepp planner that is an order of magnitude faster than OMPL's implementation with no compromise, no parallelization, and no multi-threading.

Path Planning, Motion Planning, Kinematics, Dynamics

A Python implementation of Reeds-Shepp curves.

Introduces and solves the under-specified Reeds-Shepp problem: find the vehicle orientation that results in the shortest path.