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Path Planner: Elastic Bands #60

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f88c77c
add Elastic Bands path planner component
guilyx Feb 9, 2026
cc7d54b
add Elastic Bands path planning simulation
guilyx Feb 9, 2026
4ca6d59
add Elastic Bands simulation assets (GIFs, map, path)
guilyx Feb 9, 2026
aa08ea2
add Elastic Bands simulation test
guilyx Feb 9, 2026
a182637
add Elastic Bands to README table of contents and examples
guilyx Feb 9, 2026
b603847
tune Elastic Bands params for narrow-space grid
guilyx Feb 9, 2026
3f3008c
regenerate Elastic Bands GIFs with tuned params
guilyx Feb 9, 2026
486c434
feat: plot path in search
guilyx Feb 9, 2026
4ceae91
fix readme
guilyx Mar 16, 2026
e95468b
fix readme
guilyx Mar 16, 2026
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20 changes: 15 additions & 5 deletions README.md
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@ShisatoYano ShisatoYano Mar 7, 2026

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Why were a lot of parts in README changed like this? Please pull the latest changes in README at main branch into your working branch and resolve them.

Original file line number Diff line number Diff line change
Expand Up @@ -27,9 +27,12 @@ Python sample codes and documents about Autonomous vehicle control algorithm. Th
* [Hybrid A*](#hybrid-a)
* [Dijkstra](#dijkstra)
* [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)
Expand Down Expand Up @@ -124,19 +127,26 @@ Planning
#### Dijkstra
Planning(Reduce frames by sampling every nth node to prevent memory exhaustion)
![](src/simulations/path_planning/dijkstra_path_planning/dijkstra_search.gif)
#### Elastic Bands
A* seed path smoothed with Elastic Bands optimisation
![](src/simulations/path_planning/elastic_bands_path_planning/elastic_bands_search.gif)
#### RRT
Planning
![](src/simulations/path_planning/rrt_path_planning/rrt_search.gif)
Navigation
![](src/simulations/path_planning/rrt_path_planning/rrt_navigate.gif)
#### Bidirectional RRT*
Planning
![](src/simulations/path_planning/rrt_star_bidirectional_path_planning/rrt_star_bidirectional_search.gif)
#### RRT*
Planning
![](src/simulations/path_planning/rrt_star_path_planning/rrt_star_search.gif)
#### Informed RRT*
Planning
![](src/simulations/path_planning/informed_rrt_star_path_planning/informed_rrt_star_search.gif)
Navigation
![](src/simulations/path_planning/informed_rrt_star_path_planning/informed_rrt_star_navigate.gif)
### Path Tracking
#### Pure pursuit Path Tracking
![](src/simulations/path_tracking/pure_pursuit_path_tracking/pure_pursuit_path_tracking.gif)
#### Adaptive Pure pursuit Path Tracking
![](src/simulations/path_tracking/adaptive_pure_pursuit_path_tracking/adaptive_pure_pursuit_path_tracking.gif)
#### Rear wheel feedback Path Tracking
![](src/simulations//path_tracking/rear_wheel_feedback_tracking/rear_wheel_feedback_tracking.gif)
#### LQR(Linear Quadratic Regulator) Path Tracking
Expand Down Expand Up @@ -176,4 +186,4 @@ 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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