Carla_optimal_frenet_planning

1. Optimal frenet path planning
2. PID controller considering curvature and expected path
3. Additional Obstacle detection using 2 algorithms Multi-Object-Tracking, Patchwork for lidar.

Final implementation : https://www.youtube.com/watch?v=zuEOWpu27rI

How to run

bash ~/CARLA_0.9.10.1/CarlaUE4.sh
rosrun carla_ad_agent spawn_npc.py
roslaunch carla_ad_demo carla_ad_demo_with_rviz.launch

Additional obstacle Detection

• Patchwork : https://github.com/LimHyungTae/patchwork
• Multiple-object-tracking-lidar Package : https://github.com/praveen-palanisamy/multiple-object-tracking-lidar

roslaunch patchwork rosbag_kitti.launch
rosrun multi_object_tracking_lidar kf_tracker filtered_cloud:=/benchmark/N

Reference

• https://github.com/carla-simulator/carla
• https://github.com/carla-simulator/ros-bridge
• https://tonylim.tistory.com/63
• https://www.researchgate.net/publication/224156269_Optimal_Trajectory_Generation_for_Dynamic_Street_Scenarios_in_a_Frenet_Frame