Learning Lattice Planner
This repository contains the experimental code used in "Learning a Lattice Planner Control Set for Autonomous Vehicles".
Experiments 1 and 2 require a DataFromSky dataset, their website is here. Experiment 3 generates synthetic data for the experiment, and can be run without any external dataset.
To run Experiment 3, run
julia main.jl.
This repository requires Julia 0.6.2, and the following packages: StatsBase CPUTime JLD PyCall JuMP Ipopt Distances PyPlot DataStructures Dierckx Formatting