Parallel Parking Path from (1, 1) to (3,3)

This project implemented three different methods of path planning to parallel park a bicycle model-based car:

• RRT*: Standard random sampling-based algorithm for path planning, used motion primitives of vehicle movements based on the bicycle model. Able to plan around obstacles modeled as circles
• Optimization: Implemented using the FATROP solver in CasADi, with a banded structure for fast solve times, also based on the bicycle model, problem structured to minimize time based on vehicle constraints. Also able to plan around obstacles modeled as circles
• Sinusoid: Based on this paper written by my robotics professor (Shankar Sastry)!

The optimization and RRT planners are capable of handling obstacles modeled as circles!

I also wrote a paper on the optimization method for my robotics class, which I've attached below: