Frenet Frames | Self Driving Cars | Motion Planning for Robots

Frenet Coordinates, are a way of representing position on a road in a more intuitive way than the traditional Cartesian Coordinates. These coordinates make it easier to plan local trajectories for a robot, especially for a Self Driving Car Robot driving in a Highway based Scenario. The algorithm is discussed in the video and has been demonstrated on a Prius Robot Car in a ROS (Robot Operating System) based simulation.

Feel free to leave a comment or message me on Twitter/LinkedIn in case of any questions, doubts, suggestions or improvements.

Twitter: Twitter: MahnaSakshay
LinkedIn: LinkedIn: sakshaymahna

Links
Simulation Code: https://github.com/SakshayMahna/Robot...
Algorithm Codes: https://github.com/SakshayMahna/Robot...
Amazing ROS Package on Frenet Frames: https://github.com/anime-sh/Frenet_Pl...
Paper on the Frenet Frame Method: https://www.researchgate.net/profile/...
Blog Post on Frenet Frame Method: https://fjp.at/posts/optimal-frenet/
ROS: https://www.ros.org/

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