Coding a Reeds-Shepp Car Optimal Path Planner
This video shows how to generate the shortest length path between given start and ending positions for a car that can go forwards and reverse. All code is available at https://demonstrations.wolfram.com/Sh...
(by Francesco Bernardini and Aaron Becker)
Introduction to Robotics:
Lecture 26a (Dubins car) at • Coding a Dubins Car Optimal Path Planner
Lecture 26b (Homicidal Chauffeur) at • the Homicidal Chauffeur: mathematically, w...
Lecture 26c (Reeds-Shepp car, this video) at • Coding a Reeds-Shepp Car Optimal Path Planner
Based on Python code at
https://github.com/nathanlct/reeds-sh...
0:00 Introduction
0:35 Code location: demonstrations.wolfram
0:45 How to use demonstration
0:52 Who are Reeds and Shepp?
1:03 Dubins vs Reeds & Shepp
1:49 Equations of motion
2:30 Reeds & Shepp path words (C,S)
2:58 What is a METRIC?
3:39 Python code: Reeds Shepp
3:56 The Mathematica code step by step
4:28 Path types 1 -- 6
6:10 Austin Powers 3-point turn
6:34 Path types 7 -- 12
8:11 Concatenating paths: motion planning
8:37 using a holonomic planner & subdividing
9:08 goto demonstrations.wolfram.com/