Path Planning Algorithm Skill

Purpose

Enable trajectory planning and motion control algorithm development for autonomous driving applications including behavior planning and emergency maneuvers.

Capabilities

• Behavior planning state machine design
• Trajectory optimization (polynomial, spline-based)
• Model Predictive Control (MPC) implementation
• Lattice planner implementation
• Collision checking algorithms
• Comfort and safety constraint handling
• Emergency maneuver planning
• Parking trajectory generation

Usage Guidelines

• Design behavior planning for predictable driving patterns
• Optimize trajectories for comfort and efficiency
• Implement robust collision checking at all planning stages
• Handle edge cases and emergency situations
• Validate planning algorithms in simulation
• Document algorithm parameters and tuning

Dependencies

• ROS/ROS2
• Apollo
• Autoware
• MATLAB/Simulink

Process Integration

• ADA-002: Path Planning and Motion Control
• ADA-003: ADAS Feature Development
• ADA-004: Simulation and Virtual Validation