Simple library for smooth path planning along control points for differential wheeled robot. Just specify robot width, limit speed and acceleration for the wheels and you are ready to go! "Enjoy the smoothness of the motion"

This library was initially written for robot Aranka, which competed at Robotic Day 2016. Algorithm for final path shape was inspired by SmoothPlanner, however whole speed computation is my own work, as the SmoothPathPlanner library does not compute speed correctly. It does not follow specified speed and acceleration constraints and also the speed profiles for left and right wheel do not yield desired robot motion.

The library is header only and the only dependency is Atoms library. To compile it you need to use C++11. For example usage see demo, which allows you to use PathPlanner from command line.

Please see declaration of PathPlanner::Params, where you can find brief description of the parameters.

Feel free to submit issues, enhancement requests and pull requests.