Coding a Reeds-Shepp Car Optimal Path Planner

This video shows how to generate the shortest length path between given start and ending positions for a car that can go forwards and reverse. All code is available at https://demonstrations.wolfram.com/Sh... (by Francesco Bernardini and Aaron Becker) Introduction to Robotics: Lecture 26a (Dubins car) at    • Coding a Dubins Car Optimal Path Planner   Lecture 26b (Homicidal Chauffeur) at    • the Homicidal Chauffeur: mathematically, w...   Lecture 26c (Reeds-Shepp car, this video) at    • Coding a Reeds-Shepp Car Optimal Path Planner   Based on Python code at https://github.com/nathanlct/reeds-sh... 0:00 Introduction 0:35 Code location: demonstrations.wolfram 0:45 How to use demonstration 0:52 Who are Reeds and Shepp? 1:03 Dubins vs Reeds & Shepp 1:49 Equations of motion 2:30 Reeds & Shepp path words (C,S) 2:58 What is a METRIC? 3:39 Python code: Reeds Shepp 3:56 The Mathematica code step by step 4:28 Path types 1 -- 6 6:10 Austin Powers 3-point turn 6:34 Path types 7 -- 12 8:11 Concatenating paths: motion planning 8:37 using a holonomic planner & subdividing 9:08 goto demonstrations.wolfram.com/