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Optimal Trajectory generation for Lane Changing in Frenet Frame

Learn from paper WerlingOptimalTrajectoryGenerationforDynamicStreetScenariosinaFrenetFrame

• Planning the lane changing trajectory by combine the lateral and longitudinal cost function in frenet frame 
  

• Simulated with the control algorithm to avoid collision from moving and static obstacles
  

1. Frenet坐标下动态街道场景的最优轨迹生成,这个是使用matlab完成 Optimal Trajectory Generation for Dynamic Street Scenarios in a Frenet Frame论文里面的方法，运行这个方法只要 运行主函数main_path_planning.m即可，具体内容可见博客：https://blog.csdn.net/caokaifa/article/details/108015374

2.机器人局部避障的动态窗口法（DynamicWindowApproach）是对论文Mobile robot motion planning sample with Dynamic Window Approach的实现，运行DW_Main.m即可。

3.RS曲线的生成