Frenet Path

Ben Zhang introduced me to this idea, it seems like he was working on that for Path Planning at WATonomous back in 2019.

For the frenet frame, there are two things:

• Progress along the track $s$ (start at $s=0$)
• Distance to the centerline $d$

Prof. Yash Pant was telling about the two different ways to represent a car’s positioning

1. using x,y coordinates
2. Using the Frenet Frame

Resources

• https://www.mathworks.com/help/nav/ug/highway-trajectory-planning-using-frenet.html
• https://fjp.at/posts/optimal-frenet/#frenet-coordinates

Frenet Planner