Implementation of convex feasible set and soft constrained convex feasible set algorithm in 2 dimension (x, y) for real time optimization. Application on autonomous vehicle motion planning is in this repository.

C. Liu, C. Lin, Y. Wang, and M. Tomizuka, "Convex feasible set algorithm for constrained trajectory smoothing" C. Liu, C. Lin, and M. Tomizuka, "The convex feasible set algorithm for real time optimization in motion planning" J. Chen, C. Liu, and M. Tomizuka, "FOAD: Fast optimization-based autonomous driving motion planner"