planners.cpp

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1. Open_Space_Planner

https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Open_Space_Planner.md

The Open Space Planner is one such algorithm in development targeted towards reverse parking and sharp U-turns. This algorithm was initially inspired by several papers[1][2][3].

References
[1]: Dolgov, Dmitri, et al. "Path Planning for Autonomous Vehicles in Unknown Semi-Structured Environments." The International Journal of Robotics Research, vol. 29, no. 5, 2010, pp. 485-501., doi:10.1177/0278364909359210.

// [2]: Prodan, Ionela, et al. "Mixed-integer representations in control design: Mathematical foundations and applications."" Springer, 2015.

// [3]: Xiaojing Zhang, et al. "Optimization-Based Collision Avoidance" (arXiv:1711.03449).









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2. lattice planner