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Two Path Planning Algos Added by Banaan #77

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d15264b
Add ACO path planner, simulation and assets
BanaanKiamanesh May 26, 2026
9a2dd4e
Add Q-Learning path planner and assets
BanaanKiamanesh Jun 9, 2026
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96 changes: 54 additions & 42 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -7,47 +7,53 @@ Python sample codes and documents about Autonomous vehicle control algorithm. Th


## Table of Contents
* [What is this?](#what-is-this)
* [Goal of this project](#goal-of-this-project)
* [Requirements](#requirements)
* [How to use](#how-to-use)
* [Examples of Simulation](#examples-of-simulation)
* [Localization](#localization)
* [Extended Kalman Filter Localization](#extended-kalman-filter-localization)
* [Unscented Kalman Filter Localization](#unscented-kalman-filter-localization)
* [Particle Filter Localization](#particle-filter-localization)
* [Mapping](#mapping)
* [Binary Occupancy Grid Map](#binary-occupancy-grid-map)
* [Cost Map](#cost-map)
* [Potential Field Map](#potential-field-map)
* [NDT Map](#ndt-map)
* [Path Planning](#path-planning)
* [A*](#a)
* [Bidirectional A*](#bidirectional-a)
* [Hybrid A*](#hybrid-a)
* [D*](#d)
* [Dijkstra](#dijkstra)
* [PSO](#pso)
* [PRM](#prm)
* [RRT](#rrt)
* [Bidirectional RRT*](#bidirectional-rrt)
* [RRT*](#rrt-star)
* [Informed RRT*](#informed-rrt)
* [Path Tracking](#path-tracking)
* [Pure pursuit Path Tracking](#pure-pursuit-path-tracking)
* [Adaptive Pure pursuit Path Tracking](#adaptive-pure-pursuit-path-tracking)
* [Rear wheel feedback Path Tracking](#rear-wheel-feedback-path-tracking)
* [LQR(Linear Quadratic Regulator) Path Tracking](#lqrlinear-quadratic-regulator-path-tracking)
* [Stanley steering control Path tracking](#stanley-steering-control-path-tracking)
* [MPPI Path Tracking](#mppi-path-tracking)
* [Perception](#perception)
* [Rectangle fitting Detection](#rectangle-fitting-detection)
* [Sensor's Extrinsic Parameters Estimation](#sensors-extrinsic-parameters-estimation)
* [Documents](#documents)
* [License](#license)
* [Use Case](#use-case)
* [Contribution](#contribution)
* [Author](#author)
- [AutonomousVehicleControlBeginnersGuide](#autonomousvehiclecontrolbeginnersguide)
- [Table of Contents](#table-of-contents)
- [What is this?](#what-is-this)
- [Goal of this project](#goal-of-this-project)
- [Requirements](#requirements)
- [How to use](#how-to-use)
- [Examples of Simulation](#examples-of-simulation)
- [Localization](#localization)
- [Extended Kalman Filter Localization](#extended-kalman-filter-localization)
- [Unscented Kalman Filter Localization](#unscented-kalman-filter-localization)
- [Particle Filter Localization](#particle-filter-localization)
- [Mapping](#mapping)
- [Binary Occupancy Grid Map](#binary-occupancy-grid-map)
- [Cost Map](#cost-map)
- [Potential Field Map](#potential-field-map)
- [NDT Map](#ndt-map)
- [Path Planning](#path-planning)
- [A\*](#a)
- [Bidirectional A\*](#bidirectional-a)
- [Hybrid A\*](#hybrid-a)
- [D\*](#d)
- [Dijkstra](#dijkstra)
- [ACO](#aco)
- [Q-Learning](#q-learning)
- [PSO](#pso)
- [PRM](#prm)
- [Elastic Bands](#elastic-bands)
- [RRT](#rrt)
- [Bidirectional RRT\*](#bidirectional-rrt)
- [RRT\*](#rrt-1)
- [Informed RRT\*](#informed-rrt)
- [Path Tracking](#path-tracking)
- [Pure pursuit Path Tracking](#pure-pursuit-path-tracking)
- [Adaptive Pure pursuit Path Tracking](#adaptive-pure-pursuit-path-tracking)
- [Rear wheel feedback Path Tracking](#rear-wheel-feedback-path-tracking)
- [LQR(Linear Quadratic Regulator) Path Tracking](#lqrlinear-quadratic-regulator-path-tracking)
- [Stanley steering control Path Tracking](#stanley-steering-control-path-tracking)
- [MPPI Path Tracking](#mppi-path-tracking)
- [MPC Path Tracking](#mpc-path-tracking)
- [Perception](#perception)
- [Rectangle fitting Detection](#rectangle-fitting-detection)
- [Sensor's Extrinsic Parameters Estimation](#sensors-extrinsic-parameters-estimation)
- [Documents](#documents)
- [License](#license)
- [Use Case](#use-case)
- [Contribution](#contribution)
- [Author](#author)


## What is this?
Expand Down Expand Up @@ -133,6 +139,12 @@ Planning with dynamic obstacle replanning
#### Dijkstra
Planning(Reduce frames by sampling every nth node to prevent memory exhaustion)
![](src/simulations/path_planning/dijkstra_path_planning/dijkstra_search.gif)
#### ACO
Ant Colony Optimization
![](src/simulations/path_planning/aco_path_planning/aco_search.gif)
#### Q-Learning
Reinforcement learning with a Q-table policy
![](src/simulations/path_planning/q_learning_path_planning/q_learning_search.gif)
#### PSO
Particle Swarm Optimization
![](src/simulations/path_planning/pso_path_planning/pso_search.gif)
Expand Down Expand Up @@ -200,4 +212,4 @@ Any contribution by creating an issue or sending a pull request is welcome!! Ple


## Author
[Shisato Yano](https://github.com/ShisatoYano)
[Shisato Yano](https://github.com/ShisatoYano)
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