path-planning

# 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