Optimal Planning with Differential Constraints

By Oscar Sanchez and Juan Fernando Mancilla Caceres

This website shows the results of the final project for the course Planning Algorithms of the Spring Semester 2010 by Juan Fernando Mancilla Caceres and Oscar Sanchez.

The project consisted in finding the optimal path for cars with differential constraints, especifically The Dubbins and the Reeds-Sheep car.

The following shows the code and results of several experiments:

The final report can be downloaded here.