README.md

reeds_and_shepp_curves

Reeds and Shepp Curves in Python from Lavalle's C Implementation

The RS curves python codes are implemented in Python using the reference implementations by Lavalle reference implementation by Lavalle.

and the reference implementation by Atsushi Sakai Python Robotics.

The details of the RS curve equations can be found in:

@book{lavalle2006planning,
  title={Planning algorithms},
  author={LaValle, Steven M},
  year={2006},
  publisher={Cambridge university press}
}

This implementation contains all 48 curves used in the C implementation.

We used this Python implementation to produce the curves in the following paper. The codes of the paper will be available in TierIV repositories. For the citations:

@inproceedings{boyali2020,
  title={Autonomous Parking by Successive Convexification and Compound State Triggers},
  author={Boyali, Ali and Thompson, Simon},
  booktitle={The 23rd IEEE International Conference on Intelligent Transportation Systems, ITSC'2020},
  pages={ },
  year={2020},
  organization={IEEE}
}