Lab 6 - Trajectory Planning and Following

Lab Briefing:




Lab Report:




Supplementary Videos:

Implementation Demonstrations:

Planning a trajectory around a corner with RRT*, then following it with the racecar

Driving a large section of the Stata basement loop with a RRT* planned trajectory

Driving a section of the Stata basement loop with a different RRT* planned trajectory


Planning and Following Trajectories around the Stata Basement Loop in Simulation:

With RRT* (sample-based)

With A* (search-based)

Pure pursuit demonstration on a preprogrammed trajectory